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diff --git a/data/PartNet-Mobility/Chair/39432/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39432/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39432/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39432/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..389a2fd68719018c8679a1a712cabb832728a5e9
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diff --git a/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f3b34efce72e3b094810e9eb66235b57d9dfa50
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b0c460fe2d84cd750ae5bbdc71a87095452b500e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c25d087ee27719e51743fb643be6113ec69ef172
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39432/result.json b/data/PartNet-Mobility/Chair/39432/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..439dbcf38fce404ca3f7a68bc94f9e21c6597d00
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/result.json
@@ -0,0 +1 @@
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"id": 141, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-21", "original-48"], "id": 142, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-33"], "id": 143, "name": "wheel"}, {"text": "Wheel", "objs": ["original-34"], "id": 144, "name": "wheel"}], "id": 140, "name": "caster"}], "id": 130, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-37", "original-40", "original-39"], "id": 190, "name": "central_support"}, {"text": "Central Support", "objs": ["original-36"], "id": 191, "name": "central_support"}, {"text": "Central Support", "objs": ["original-13", "original-35"], "id": 192, "name": "central_support"}, {"text": "Seat Connector", "objs": ["original-9", "original-52", "original-12", "original-8", "original-14", "original-10", "original-53", "original-51", "original-11", "original-63", "original-64", "original-62", "original-6", "original-7"], "id": 198, "name": "seat_connector"}], "id": 110, "name": "star_leg_base"}], "id": 5, 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/result_after_merging.json b/data/PartNet-Mobility/Chair/39432/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c463513ae9ec4ddd404e40e6bfc47e45943322e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "objs": ["original-4", "original-70", "original-69", "original-68", "original-67", "original-66", "original-65", "original-71", "original-73", "original-74", "original-76", "original-75", "new-3", "new-2", "new-0", "original-72", "new-1", "original-60", "original-1", "original-57", "original-55", "original-61", "original-59", "original-2", "original-54", "original-56", "original-58", "original-3", "original-50", "original-42", "original-41", "original-43", "original-47", "original-44", "original-25", "original-22", "original-45", "original-24", "original-23", "original-31", "original-27", "original-49", "original-28", "original-29", "original-26", "original-30", "original-46", "original-16", "original-15", "original-20", "original-17", "original-38", "original-19", "original-18", "original-32", "original-21", "original-48", "original-33", "original-34", "original-37", "original-40", "original-39", "original-36", "original-13", "original-35", "original-9", "original-52", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/semantics.txt b/data/PartNet-Mobility/Chair/39432/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9f2e7b092042fe061aa5eb5c057afc699ac96914
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/semantics.txt
@@ -0,0 +1,17 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 slider+ seat
+link_11 free chair_leg
+link_12 hinge caster
+link_13 hinge caster
+link_14 hinge caster
+link_15 hinge caster
+link_16 hinge caster
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b517f660beb3b02bef2cbf6333c5594d73611cd3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+newmtl material-1
+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/39432/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bfc8966725a2dde2f48cfcd4bf327f078c8f47d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/new-0.obj
@@ -0,0 +1,1099 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b517f660beb3b02bef2cbf6333c5594d73611cd3
--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b62f20c0a9aeae0813e32b5063eb3dae11ee0132
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b517f660beb3b02bef2cbf6333c5594d73611cd3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8baada60e0a79425160e874aa83bdfef6567eb1c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/new-2.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/new-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae82a738e504a2654e82f7a80ef507bc40a9cc8a
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-1.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/39432/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58869b88e3410889bb3a7becf984bcbf72dfeb03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-1.obj
@@ -0,0 +1,1463 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae074b73191630325f0c81c2e20392b6530d08d3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-10.obj
@@ -0,0 +1,920 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59c15d78279f996e9a9755ae0f65e53cc7010421
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-11.obj
@@ -0,0 +1,453 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e00ca8ab4bbb2e2a7e40276ea396bc82506640c0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..299d62be72a04a8b2acd87107ee3454131fd6061
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b457343660552e323ca24f7a1884205a0b35da11
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-14.obj
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+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..758f0ea0e6852e0ede8e4b368c9fd1f2c308cea5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa0c003dcc6eb00505180032565c349558825cbd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a015e7191d2060b1ef44ca5bca3d057eced7ff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b674b8eaa6008c8fd72498ea811a2e5c4d4de441
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00f8722c79d268501227b09bd25cfdbc39ee9d08
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-19.obj
@@ -0,0 +1,566 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559da38002199294e113530d8bd7a773ba488f85
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652965d79828720fef70c7411a6759b608ecffaa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5581b7e1415dfd73f4269f12197d67d13fa3dab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-21.obj
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+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e52ca577b805a5e643d61da6faa189ace9fb450
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.mtl
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+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c615a916f1b0be9610bcd63468dc5c7d080d9f1f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-24.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/39432/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d27dacdde4e371c9975f6f7d50be60f549d43e6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebb5c913bcc22322bd76f634816903601bb11717
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb1cdaecaf31fe227569539ece8a0db9be07bd13
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-26.obj
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+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47bb7925ffccc0d29905d39f80be3d432a521df
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-27.obj
@@ -0,0 +1,235 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22d8c67e116b89f793f2ad2ff43327a474260ba6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9cc3c82fc79c6b8eb60ef5c4bdfa98e30a0156e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-29.obj
@@ -0,0 +1,566 @@
+# SSTK version 0.8.0
+# 29
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7de2b62537c9b565c7162f49195b5951b65a95d4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7843137254901961 0.19215686274509805 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfe2ce2634a292470cd73127e2f673eeb338d89a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-3.obj
@@ -0,0 +1,2544 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68115490eefb7ca49d0baf7c8388f0cfc1c3fe4b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-30.obj
@@ -0,0 +1,235 @@
+# SSTK version 0.8.0
+# 30
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98bffa03e9ee3458d4d87904f57ff2cf49a496b8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-31.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343c0d4d35ebce96701e3580c2f07dc48d226adf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a0e85223b7c772b545f9978f970c79046c3e98
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5876ef8a67c2b005dc0f821e8de9b872fc774426
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa0486ae403479c4b869e8d2155cd1d557be7c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2a3e5d9a49b05e2fbe9abb3b078c7198a7eb83
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-36.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8f640ce6fd65159690b5d1d0537edd441066dc8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16f2398a8278eacae76f6d107dca2960acac6f45
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b54192cd8bec89b677d6a1e54e02062954f1a7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64e9ff458ccc9e205e8939e838d089c4cf6dc449
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f88785c9392b7c6b74797be1a733765f602db99a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-4.obj
@@ -0,0 +1,4051 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513830f459ac1cd792cabdd4898f1cd209ba7077
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-40.obj
@@ -0,0 +1,285 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6d0f02ae35d1ef825b4a9d951404a8bf3a67b2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-41.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-42.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/39432/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e0eca76add047410185f35a8383845f8b82c68
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663e81a86c1b99f5c39c38498e6f9e9c9da62d3f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c159df101c61257301bce6e5c2073014ed51c80
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81a0f9e20d18616976bd27168d9ad9300d13df8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64e40055906cb470dcc8640ff95a807bf56f7c9d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-47.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/39432/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..973a072568800321dfefa1f7ac3ef7e11afd68d0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ddedcc8123514913efd74c7fbfb3bc708946e9c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.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 
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201aec3f7b15b316ea8b17b79f34bf78002e9156
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-49.obj
@@ -0,0 +1,228 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o mesh49/mesh49-geometry#mesh49-geometry
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b749ab1fcf2a02482309fb44348befc49f032d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-50.obj
@@ -0,0 +1,3420 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o mesh50/mesh50-geometry#mesh50-geometry
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0b04ca3fbaf197350f674a3d65a1ae40c39e74a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-51.obj
@@ -0,0 +1,545 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-52.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/39432/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74311909183d615a88a75ab3ccd2b247f2c86e48
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-52.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22de11e79452544c6e0d5834ad97a5bd79e1239e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-53.obj
@@ -0,0 +1,595 @@
+# SSTK version 0.8.0
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+mtllib original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-54.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/39432/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4addec72cb416caafb6714c63dba3e12e0deaf98
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-54.obj
@@ -0,0 +1,1510 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca82c77e103e4a9f4a2ea95bd8ae75f653c0ac22
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-55.obj
@@ -0,0 +1,1498 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77adc9a39da408d86afae2bbeae303f7abc39502
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-57.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-57.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c54419a3bebf438e07ec420a32dbd15fdc4115d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-58.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-58.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/39432/textured_objs/original-58.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e053c9c828c6eea20e672fa5c3b8a2c72ccf03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-58.obj
@@ -0,0 +1,1117 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-59.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/39432/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60255b83aab75deadbc46b6db67262d126e1544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-59.obj
@@ -0,0 +1,422 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
+o mesh59/mesh59-geometry#mesh59-geometry
+v -0.421354 0.183274 -0.061590
+v -0.422775 0.183274 0.255753
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee7dc5c24d01c5c65d00a940617266d1251749b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-6.obj
@@ -0,0 +1,886 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b56d4c8a61ec78a10e20ceca72347cfd00581bf4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-60.obj
@@ -0,0 +1,422 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e6f2204e0b0e048a30a99724d51e30f7ef5b160
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-61.obj
@@ -0,0 +1,1117 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-62.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/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/39432/textured_objs/original-62.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6bc46b95b55246d0dd36c0d53bfa79b5fd5f394
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-62.obj
@@ -0,0 +1,409 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o mesh62/mesh62-geometry#mesh62-geometry
+v 0.371082 -0.096747 0.147158
+v 0.382469 -0.100521 -0.155893
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.mtl
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+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9db3f801cfad5cb9f48b3c74f8bb98e4f895a47d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-63.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..587acebfb2d534c2fb949bea539587e4de73ff2f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-64.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57deaeb16ac5aefe4c7f318b1854b4e6a8c2c195
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-65.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85168861474a4184ea57eb95440100dba5a3a6f2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-66.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65295082092fbca51e33c8fe60c4d2256f2f88d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-67.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..434aadc607141d7e7035c7c8833d380d6d6cb061
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-68.obj
@@ -0,0 +1,317 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960cdcef9e9a5a387bac373ab027313471b4432b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-69.obj
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+# SSTK version 0.8.0
+# 69
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3174ce389accec4ba430e85fa0ff6a050ece9a86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-7.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d2ab3cac64b8a7efc1bb81c944b18d9da4e5463
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-70.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb37586ff6d583f1d58677391e95dfeed5303283
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80e7d1a7c6b84be23708ea60f2d452f440f4e466
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-72.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ef37b8a2cf8533700e7b05c442e01a31359c2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-73.obj
@@ -0,0 +1,317 @@
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-74.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-74.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-74.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e59d67318a0ad5446ca3e41ef640c674189017cc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..601814a8c7a9b494997686413bf99ee109a22f34
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-75.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-76.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-76.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-76.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9e91dd86dd4b918fd9b4472e945979ff10094c5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bed0519711533d45a75253649f2f3b326be3db7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-8.obj
@@ -0,0 +1,1709 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..581fee22110713a4f3df0dea772d4b97a0d9c329
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/39432/tree_hier.html b/data/PartNet-Mobility/Chair/39432/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..e532230c5327ae56c78fd1f432bef647d33e6ee1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><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>193 back_surface Back Surface</p><a href="parts_render/193.png"><img src="parts_render/193.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>194 back_frame Back Frame</p><a href="parts_render/194.png"><img src="parts_render/194.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>206 back_connector Back Connector</p><a href="parts_render/206.png"><img src="parts_render/206.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>85 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 arm_connector Arm Connector</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>82 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 arm_connector Arm Connector</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>199 seat_surface Seat Surface</p><a href="parts_render/199.png"><img src="parts_render/199.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>110 star_leg_base Star-shape Leg Base</p><a href="parts_render/110.png"><img src="parts_render/110.png" width="100px" height="100px"/></a></td></tr><tr><td><p>197 back_hard_surface Back Hard Surface</p><a href="parts_render/197.png"><img src="parts_render/197.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>204 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/204.png"><img src="parts_render/204.png" width="100px" height="100px"/></a></td><td></td><td><p>205 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/205.png"><img src="parts_render/205.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><p>200 seat_hard_surface Seat Hard Surface</p><a href="parts_render/200.png"><img src="parts_render/200.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>130 star_leg_set Star-shape Leg Set</p><a href="parts_render/130.png"><img src="parts_render/130.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>190 central_support Central Support</p><a href="parts_render/190.png"><img src="parts_render/190.png" width="100px" height="100px"/></a></td><td></td><td><p>191 central_support Central Support</p><a href="parts_render/191.png"><img src="parts_render/191.png" width="100px" height="100px"/></a></td><td></td><td><p>192 central_support Central Support</p><a href="parts_render/192.png"><img src="parts_render/192.png" width="100px" height="100px"/></a></td><td></td><td><p>198 seat_connector Seat Connector</p><a href="parts_render/198.png"><img src="parts_render/198.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>131 leg Leg</p><a href="parts_render/131.png"><img src="parts_render/131.png" width="100px" height="100px"/></a></td><td></td><td><p>132 leg Leg</p><a href="parts_render/132.png"><img src="parts_render/132.png" width="100px" height="100px"/></a></td><td></td><td><p>133 leg Leg</p><a href="parts_render/133.png"><img src="parts_render/133.png" width="100px" height="100px"/></a></td><td></td><td><p>134 leg Leg</p><a href="parts_render/134.png"><img src="parts_render/134.png" width="100px" height="100px"/></a></td><td></td><td><p>135 leg Leg</p><a href="parts_render/135.png"><img src="parts_render/135.png" width="100px" height="100px"/></a></td><td></td><td><p>136 caster Wheel Assembly</p><a href="parts_render/136.png"><img src="parts_render/136.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>137 caster Wheel Assembly</p><a href="parts_render/137.png"><img src="parts_render/137.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>138 caster Wheel Assembly</p><a href="parts_render/138.png"><img src="parts_render/138.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>139 caster Wheel Assembly</p><a href="parts_render/139.png"><img src="parts_render/139.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>140 caster Wheel Assembly</p><a href="parts_render/140.png"><img src="parts_render/140.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>157 caster_yoke Caster Yoke</p><a href="parts_render/157.png"><img src="parts_render/157.png" width="100px" height="100px"/></a></td><td></td><td><p>158 caster_stem Caster Stem</p><a href="parts_render/158.png"><img src="parts_render/158.png" width="100px" height="100px"/></a></td><td></td><td><p>159 wheel Wheel</p><a href="parts_render/159.png"><img src="parts_render/159.png" width="100px" height="100px"/></a></td><td></td><td><p>160 wheel Wheel</p><a href="parts_render/160.png"><img src="parts_render/160.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>153 caster_yoke Caster Yoke</p><a href="parts_render/153.png"><img src="parts_render/153.png" width="100px" height="100px"/></a></td><td></td><td><p>154 caster_stem Caster Stem</p><a href="parts_render/154.png"><img src="parts_render/154.png" width="100px" height="100px"/></a></td><td></td><td><p>155 wheel Wheel</p><a href="parts_render/155.png"><img src="parts_render/155.png" width="100px" height="100px"/></a></td><td></td><td><p>156 wheel Wheel</p><a href="parts_render/156.png"><img src="parts_render/156.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>149 caster_yoke Caster Yoke</p><a href="parts_render/149.png"><img src="parts_render/149.png" width="100px" height="100px"/></a></td><td></td><td><p>150 caster_stem Caster Stem</p><a href="parts_render/150.png"><img src="parts_render/150.png" width="100px" height="100px"/></a></td><td></td><td><p>151 wheel Wheel</p><a href="parts_render/151.png"><img src="parts_render/151.png" width="100px" height="100px"/></a></td><td></td><td><p>152 wheel Wheel</p><a href="parts_render/152.png"><img src="parts_render/152.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>145 caster_yoke Caster Yoke</p><a href="parts_render/145.png"><img src="parts_render/145.png" width="100px" height="100px"/></a></td><td></td><td><p>146 caster_stem Caster Stem</p><a href="parts_render/146.png"><img src="parts_render/146.png" width="100px" height="100px"/></a></td><td></td><td><p>147 wheel Wheel</p><a href="parts_render/147.png"><img src="parts_render/147.png" width="100px" height="100px"/></a></td><td></td><td><p>148 wheel Wheel</p><a href="parts_render/148.png"><img src="parts_render/148.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>141 caster_yoke Caster Yoke</p><a href="parts_render/141.png"><img src="parts_render/141.png" width="100px" height="100px"/></a></td><td></td><td><p>142 caster_stem Caster Stem</p><a href="parts_render/142.png"><img src="parts_render/142.png" width="100px" height="100px"/></a></td><td></td><td><p>143 wheel Wheel</p><a href="parts_render/143.png"><img src="parts_render/143.png" width="100px" height="100px"/></a></td><td></td><td><p>144 wheel Wheel</p><a href="parts_render/144.png"><img src="parts_render/144.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39432/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39432/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..bfceb161ff91570831f8f557b57458168d022d15
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39432/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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></td><td></td><td></td><td></td><td><p>12 chair_arm chair_arm</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 chair_seat chair_seat</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>19 chair_base chair_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_frame back_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 back_connector back_connector</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_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 arm_connector arm_connector</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 arm_connector arm_connector</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 seat_surface seat_surface</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>20 star_leg_base star_leg_base</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>18 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>21 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>47 central_support central_support</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 central_support central_support</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 central_support central_support</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</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 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 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></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 caster caster</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>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><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_stem caster_stem</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 caster_stem caster_stem</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 caster_stem caster_stem</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 wheel wheel</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 wheel wheel</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39485/bounding_box.json b/data/PartNet-Mobility/Chair/39485/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a248866fffd446fb14d3b5f0f145d4d992d44ead
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.537896, -0.834212, -0.395099], "max": [0.544041, 0.863901, 0.63406]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39485/meta.json b/data/PartNet-Mobility/Chair/39485/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..adf83a1287aa78520de54066b73dcbb0486c3330
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/meta.json
@@ -0,0 +1 @@
+{"model_id": "6419d67905503bf7a09708b19d8be603", "anno_id": "39485", "user_id": "yz-majinghua", "time_in_sec": "709", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39485/mobility.urdf b/data/PartNet-Mobility/Chair/39485/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5510da7fa1d05f95d22e254e5a6d138b4f416035
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/mobility.urdf
@@ -0,0 +1,563 @@
+<?xml version="1.0" ?>
+<robot name="partnet_6419d67905503bf7a09708b19d8be603">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-34">
+			<origin xyz="-0.003072499999999999 0 -0.604373"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003072499999999999 0 -0.604373"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.003072499999999999 0 0.604373"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-35">
+			<origin xyz="0 0.79199 -0.5854608376054258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.79199 -0.5854608376054258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.003072499999999999 -0.79199 -0.018912162394574272"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke-32">
+			<origin xyz="0.5009515 0 -0.23823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5009515 0 -0.23823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.5009515 0 0.23823"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-33">
+			<origin xyz="0.5043488617074521 0.79199 -0.16810214410528834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5043488617074521 0.79199 -0.16810214410528834"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.0033973617074520845 -0.79199 -0.07012785589471165"/>
+		<axis xyz="0.3162037989781537 0 0.9486912867270278"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-30">
+			<origin xyz="0.3083135 0 0.3541965"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3083135 0 0.3541965"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.3083135 0 -0.3541965"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-31">
+			<origin xyz="0.2567486501817543 0.7919900000000001 0.36677586034884085"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2567486501817543 0.7919900000000001 0.36677586034884085"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.05156484981824572 -0.7919900000000001 -0.012579360348840829"/>
+		<axis xyz="-0.8192260864412401 0 0.5734706786699475"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_yoke-28">
+			<origin xyz="-0.3144595 0 0.3541965"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3144595 0 0.3541965"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.3144595 0 -0.3541965"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-29">
+			<origin xyz="-0.2785932238210332 0.7919895 0.3581956076462031"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2785932238210332 0.7919895 0.3581956076462031"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.035866276178966816 -0.7919895 -0.003999107646203093"/>
+		<axis xyz="-0.789355796628061 0 -0.6139360115921522"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-26">
+			<origin xyz="-0.507097 0 -0.23823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.507097 0 -0.23823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.507097 0 0.23823"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_8"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-27">
+			<origin xyz="-0.5098750337709921 0.79199 -0.16996907633048575"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5098750337709921 0.79199 -0.16996907633048575"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.002778033770992061 -0.79199 -0.06826092366951425"/>
+		<axis xyz="0.3162457412769327 0 -0.9486773061079323"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="arm_holistic_frame-48">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-47">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-58">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-50">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-56">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-57">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-46">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_holistic_frame-44">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_holistic_frame-45">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_frame_horizontal_bar-61">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_frame_horizontal_bar-62">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-41">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-63">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-64">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-65">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-66">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-67">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-68">
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0030725000000000058 0 -0.07462"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10"/>
+		<parent link="link_10_helper"/>
+	</joint>
+	<link name="link_11">
+		<visual name="central_support-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_10_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.0030725000000000058 0 0.07462"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10_helper"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.06000000000000005"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39485/mobility_v2.json b/data/PartNet-Mobility/Chair/39485/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..485b41ea10a86525690712c4c92d42d6182a1757
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39485/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2ac29a6dab4e7a108623642d8b51ea98b187e2d6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39485/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f1fe40def301c318fbe8ae67411603c9b193682
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diff --git a/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c8776ae5a0d705d5a0b9f693a332b37a400bf88
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4703d694f15a645277cc0e7dfbaa9a58ed6783eb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/39485/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/39485/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..003fd3e638443bf7bb1b8ca3109278c38f4df14b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39485/result.json b/data/PartNet-Mobility/Chair/39485/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..adc7f5b6c70f5760f2d5a211d19ebbb91d1f9df9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-6"], "id": 58, "name": "back_hard_surface"}], "id": 49, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-12"], "id": 50, "name": "back_support"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-10"], "id": 56, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-8"], "id": 57, "name": "back_frame_vertical_bar"}], "id": 51, "name": "back_frame"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-8"], "id": 48, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-13"], "id": 47, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["new-5"], "id": 46, "name": "seat_hard_surface"}], "id": 42, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Holistic Frame", "objs": ["original-24"], "id": 44, "name": "seat_holistic_frame"}, {"text": "Seat Holistic Frame", "objs": ["original-27"], "id": 45, "name": "seat_holistic_frame"}], "id": 43, "name": "seat_frame"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Horizontal Bar", "objs": ["new-7"], "id": 61, "name": "seat_frame_horizontal_bar"}, {"text": "Seat Frame Horizontal Bar", "objs": ["new-9"], "id": 62, "name": "seat_frame_horizontal_bar"}], "id": 60, "name": "seat_frame"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-16"], "id": 8, "name": "central_support"}, {"text": "Central Support", "objs": ["original-15"], "id": 9, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-2"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-6"], "id": 35, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-19"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-2"], "id": 33, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-20"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-3"], "id": 31, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-21"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-4"], "id": 29, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-22"], "id": 26, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-5"], "id": 27, "name": "wheel"}], "id": 20, "name": "caster"}], "id": 10, "name": "star_leg_set"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-26", "original-28", "original-25", "original-29"], "id": 41, "name": "lever"}], "id": 36, "name": "mechanical_control"}, {"text": "Seat Connector", "objs": ["original-30"], "id": 63, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-14"], "id": 64, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-32"], "id": 65, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-33"], "id": 66, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-9"], "id": 67, "name": "seat_connector"}, {"text": "Seat Connector", "objs": ["original-31"], "id": 68, "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/39485/result_after_merging.json b/data/PartNet-Mobility/Chair/39485/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe8c6a27535bd4409ba51425e187e07f62c777ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "text": "chair", "children": [{"name": "chair_back", "text": "chair_back", "children": [{"name": "back_surface", "text": "back_surface", "children": [{"name": "back_single_surface", "objs": ["new-6"], "text": "back_single_surface", "ori_id": 58, "id": 3}], "objs": ["new-6"], "id": 2, "ori_id": 49}, {"name": "back_support", "objs": ["original-12"], "text": "back_support", "ori_id": 50, "id": 4}, {"name": "back_frame", "text": "back_frame", "children": [{"name": "back_frame_vertical_bar", "objs": ["new-10"], "text": "back_frame_vertical_bar", "ori_id": 56, "id": 6}, {"name": "back_frame_vertical_bar", "objs": ["new-8"], "text": "back_frame_vertical_bar", "ori_id": 57, "id": 7}], "objs": ["new-10", "new-8"], "id": 5, "ori_id": 51}], "objs": ["new-6", "original-12", "new-10", "new-8"], "id": 1, "ori_id": 1}, {"name": "chair_arm", "text": "chair_arm", "children": [{"name": "arm_holistic_frame", "objs": ["original-8"], "text": "arm_holistic_frame", "ori_id": 48, "id": 9}], "objs": ["original-8"], "id": 8, "ori_id": 2}, {"name": "chair_arm", "text": "chair_arm", "children": [{"name": "arm_holistic_frame", "objs": ["original-13"], "text": "arm_holistic_frame", "ori_id": 47, "id": 11}], "objs": ["original-13"], "id": 10, "ori_id": 3}, {"name": "chair_seat", "text": "chair_seat", "children": [{"name": "seat_surface", "text": "seat_surface", "children": [{"name": "seat_single_surface", "objs": ["new-5"], "text": "seat_single_surface", "ori_id": 46, "id": 14}], "objs": ["new-5"], "id": 13, "ori_id": 42}, {"name": "seat_frame", "text": "seat_frame", "children": [{"name": "seat_holistic_frame", "objs": ["original-24"], "text": "seat_holistic_frame", "ori_id": 44, "id": 16}, {"name": "seat_holistic_frame", "objs": ["original-27"], "text": "seat_holistic_frame", "ori_id": 45, "id": 17}], "objs": ["original-24", "original-27"], "id": 15, "ori_id": 43}, {"name": "seat_frame", "text": "seat_frame", "children": [{"name": "seat_frame_bar", "objs": ["new-7"], 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diff --git a/data/PartNet-Mobility/Chair/39485/semantics.txt b/data/PartNet-Mobility/Chair/39485/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25198e5cf5c93bfe972e0683d5df09bff54a3541
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 slider+ seat
+link_11 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-0.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96005a45164a171917de01bd5dba4fde8547d6b0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..001bfb3a2d3941333801674e48c75d6db06d688c
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5449cb49a3a436b220a5e3d3f07bfd074c00ebe2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.mtl
@@ -0,0 +1,8 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d898e636aadba7766a2f62b5dc425b7b23094cc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-2.obj
@@ -0,0 +1,1108 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10cb710e787c29c04d52546a2bc213d8198c9094
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8aa9fa1bd2e8f399ee79ff388afca3beef997336
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29f6b5923b4f6dc09f9e9f8fdec0eb348ba6442f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88f00067d2ed105085370393857e84e22dfe4895
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29f6b5923b4f6dc09f9e9f8fdec0eb348ba6442f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.mtl
@@ -0,0 +1,8 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..102407ee7439e592a1f3ac40aaa0a8011e80ab87
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-6.obj
@@ -0,0 +1,1546 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.mtl
@@ -0,0 +1,8 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d1d3e35baa793dacb58d5c8d8fd4cf0d88b2444
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/new-7.obj
@@ -0,0 +1,683 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3562242c43cf6f08f73c31f499f074b9aeb8d1b0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/new-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/new-9.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd4757d1f6e5e5dc0a9d1ca38960b4824fa0df10
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-12.obj
@@ -0,0 +1,1002 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c502f5b45f436437647d5611337e70b3836fe3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-13.obj
@@ -0,0 +1,3205 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d6cd30017003b0868ae246c1c7babbfab18fd4c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a08efd7001295e09f270be45eadf1f6cabe9a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49e30789b17ea232be12cb79d24dc69ff62b19fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-16.obj
@@ -0,0 +1,117 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed8cda739f12a3a3e9982521dd555c2d22e5b43e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-19.obj
@@ -0,0 +1,55 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82b748b7890558f8599cc21455f23caa65039c18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2015420e7f2eb6b1361e0e0c832b3b1f4ea7dd7c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b02426b6708db5201102edcc9092dac17e04bded
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-20.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh18/mesh18-geometry#mesh18-geometry
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4276cc1f527c445b6b1b9219d4c8e1792a4f4fee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-21.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh19/mesh19-geometry#mesh19-geometry
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..969a3c352437a06a284170fbc1411aff6a918581
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-22.obj
@@ -0,0 +1,55 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh20/mesh20-geometry#mesh20-geometry
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f964bbda61872c4063cf7c2404530c03c915a24
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-23.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7f6f4901429df24049d9cd2688f1afb244078fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-24.obj
@@ -0,0 +1,247 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..ed1d54d4ec4a657b344fa88ee0d1c149f5768d1e
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-27.mtl
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index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cd2314c1589af602bcb04ac7a59c7ffc0873209
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc3c93d9a5261e5fc0d8b4f22d2d3ee702a5104
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82b748b7890558f8599cc21455f23caa65039c18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6edaafc7800bebc18008e67c92caf891f735e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e34d75572eb78fcb9a3651280928695cdf9f9804
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-30.obj
@@ -0,0 +1,106 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-31.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/39485/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c95a84be14eb910007adeb4c727843898ef829e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-31.obj
@@ -0,0 +1,106 @@
+# SSTK version 0.8.0
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+mtllib original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55583632db9779555db151abfb35e322dffa481c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-32.obj
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+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-4.mtl
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index 0000000000000000000000000000000000000000..82b748b7890558f8599cc21455f23caa65039c18
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82b748b7890558f8599cc21455f23caa65039c18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c209c4e389a8907ffa8c34be8b039968a5a768
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-5.obj
@@ -0,0 +1,221 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82b748b7890558f8599cc21455f23caa65039c18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c18e9213fd2dba2dc48751a66342d2275fd331bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-6.obj
@@ -0,0 +1,183 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30b2b0e27d95300cadbda1f293f17b82332e944e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/textured_objs/original-8.obj
@@ -0,0 +1,3133 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
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diff --git a/data/PartNet-Mobility/Chair/39485/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39485/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92f0f3af6f1db1fb2f6d1ef75dba7a90336dcac1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39485/tree_hier.html b/data/PartNet-Mobility/Chair/39485/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..70316f45578343f95b0730d08e7267f6f4352b24
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>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>50 back_support Back Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 back_frame Back Frame</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>48 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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>42 seat_surface Seat Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>43 seat_frame Seat Frame</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>60 seat_frame Seat Frame</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><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>58 back_hard_surface Back Hard Surface</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>56 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 back_frame_vertical_bar Back Frame Vertical Bar</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></td><td></td><td></td><td></td><td><p>46 seat_hard_surface Seat Hard Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 seat_holistic_frame Seat Holistic Frame</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 seat_holistic_frame Seat Holistic Frame</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>61 seat_frame_horizontal_bar Seat Frame Horizontal Bar</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 seat_frame_horizontal_bar Seat Frame Horizontal Bar</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><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><p>36 mechanical_control Mechanical Control</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>63 seat_connector Seat Connector</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 seat_connector Seat Connector</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 seat_connector Seat Connector</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 seat_connector Seat Connector</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 seat_connector Seat Connector</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 seat_connector Seat Connector</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><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><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><p>41 lever Lever</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></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></td><td><p>30 caster_yoke Caster Yoke</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39485/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39485/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..23b4bdef9bb72ab3b61743ebb6992975f758776b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39485/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 chair_seat chair_seat</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><p>21 chair_base chair_base</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_frame back_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><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 arm_holistic_frame arm_holistic_frame</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_surface seat_surface</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_frame seat_frame</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></td><td></td><td><p>18 seat_frame seat_frame</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>22 star_leg_base star_leg_base</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_holistic_frame seat_holistic_frame</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 seat_holistic_frame seat_holistic_frame</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>23 central_support central_support</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 central_support central_support</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 star_leg_set star_leg_set</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 mechanical_control mechanical_control</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><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><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>42 lever lever</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 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></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39551/bounding_box.json b/data/PartNet-Mobility/Chair/39551/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..333a37a277eb3f69c6956bfba2cbced8b4a3a207
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.51544, -0.821619, -0.476573], "max": [0.529215, 0.955899, 0.523242]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39551/meta.json b/data/PartNet-Mobility/Chair/39551/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f1fdf74b0c341b728ebb7cccd741b851ce63ba2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/meta.json
@@ -0,0 +1 @@
+{"model_id": "758bc4143fceac844224ee0743294f79", "anno_id": "39551", "user_id": "yz_zhangcong", "time_in_sec": "505", "version": "6", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39551/mobility.urdf b/data/PartNet-Mobility/Chair/39551/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33048a4e5839d7cbb7b3dd36ac4df0945bac2ff6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/mobility.urdf
@@ -0,0 +1,651 @@
+<?xml version="1.0" ?>
+<robot name="partnet_758bc4143fceac844224ee0743294f79">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_stem-33">
+			<origin xyz="0.28651210136976873 0 -0.48286979586559353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.28651210136976873 0 -0.48286979586559353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.28651210136976873 0 0.48286979586559353"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-34">
+			<origin xyz="-0.11239472544646117 0.7833265 -0.3459746406522359"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11239472544646117 0.7833265 -0.3459746406522359"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.3989068268162299 -0.7833265 -0.13689515521335766"/>
+		<axis xyz="-0.9510720678208713 0 0.30896912760166223"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-35">
+			<origin xyz="-0.11239472544646117 0.7833265 -0.3459746406522359"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11239472544646117 0.7833265 -0.3459746406522359"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.3989068268162299 -0.7833265 -0.13689515521335766"/>
+		<axis xyz="-0.9510720678208713 0 0.30896912760166223"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_stem-30">
+			<origin xyz="0.4676121474271267 0 0.07795432034834227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4676121474271267 0 0.07795432034834227"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.4676121474271267 0 -0.07795432034834227"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-31">
+			<origin xyz="0.06970812372764577 0.7833260591946188 0.21454431261303553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06970812372764577 0.7833260591946188 0.21454431261303553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.3979040236994809 -0.7833260591946188 -0.13658999226469326"/>
+		<axis xyz="0.9510585351226556 0 -0.30901078099371987"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-32">
+			<origin xyz="0.06970812372764577 0.7833260591946188 0.21454431261303553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06970812372764577 0.7833260591946188 0.21454431261303553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.3979040236994809 -0.7833260591946188 -0.13658999226469326"/>
+		<axis xyz="0.9510585351226556 0 -0.30901078099371987"/>
+		<child link="link_5"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_stem-27">
+			<origin xyz="-0.009251 0 0.4240135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.009251 0 0.4240135"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.009251 0 -0.4240135"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-28">
+			<origin xyz="0.12586902197720445 0.7833261314552432 0.3874202377912207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.12586902197720445 0.7833261314552432 0.3874202377912207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.13512002197720446 -0.7833261314552432 0.03659326220877929"/>
+		<axis xyz="0.9510647687945799 0 -0.3089915946392598"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-29">
+			<origin xyz="0.12586902197720445 0.7833261314552432 0.3874202377912207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.12586902197720445 0.7833261314552432 0.3874202377912207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.13512002197720446 -0.7833261314552432 0.03659326220877929"/>
+		<axis xyz="0.9510647687945799 0 -0.3089915946392598"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_stem-24">
+			<origin xyz="-0.48527289863023126 0 0.07726820413440648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.48527289863023126 0 0.07726820413440648"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.48527289863023126 0 -0.07726820413440648"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-25">
+			<origin xyz="-0.021475883886571706 0.7833265 -0.066104389859079"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.021475883886571706 0.7833265 -0.066104389859079"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.46379701474365953 -0.7833265 0.14337259399348548"/>
+		<axis xyz="0.9510680867189355 0 -0.30898138200348474"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-26">
+			<origin xyz="-0.021475883886571706 0.7833265 -0.066104389859079"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.021475883886571706 0.7833265 -0.066104389859079"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.46379701474365953 -0.7833265 0.14337259399348548"/>
+		<axis xyz="0.9510680867189355 0 -0.30898138200348474"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_stem-21">
+			<origin xyz="-0.302589 0 -0.4840325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.302589 0 -0.4840325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.302589 0 0.4840325"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-22">
+			<origin xyz="-0.1689860181683288 0.7833264999999999 -0.5201327722560855"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1689860181683288 0.7833264999999999 -0.5201327722560855"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.13360298183167119 -0.7833264999999999 0.036100272256085475"/>
+		<axis xyz="0.9510647687945797 0 -0.3089915946392602"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-23">
+			<origin xyz="-0.1689860181683288 0.7833264999999999 -0.5201327722560855"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1689860181683288 0.7833264999999999 -0.5201327722560855"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.13360298183167119 -0.7833264999999999 0.036100272256085475"/>
+		<axis xyz="0.9510647687945797 0 -0.3089915946392602"/>
+		<child link="link_14"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_15">
+		<visual name="back_soft_surface-57">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-54">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-55">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-56">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-47">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-48">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-48">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-49">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-42">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-43">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-43">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-44">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-41">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-40">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-10">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-36">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="headrest-59">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head_connector-60">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head_connector-60">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head_connector-61">
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005740033497692337 0.6991370000000001 -0.07350719606657163"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_15_helper"/>
+	</joint>
+	<link name="link_16">
+		<visual name="central_support-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_16"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.005740033497692337 -0.6991370000000001 0.07350719606657163"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15_helper"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39551/mobility_v2.json b/data/PartNet-Mobility/Chair/39551/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bfb275f395898cc04dc62a4793e68ce2b9d5cff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/mobility_v2.json
@@ -0,0 +1 @@
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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/39551/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39551/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5531ac1bbebdebc5a0eb51628be44349b224eb51
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39551/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/39551/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..c422b8823e2e35c55ad494374d94e940ab6e22d6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39551/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b73d4891b2dbd55750254347e16410ec77ed796
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diff --git a/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e3b0ae731f4193f3807a5fc329a475d996a34c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b5d85d5354055ff22d42b2dc3b20bf28ccbcf260
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7063eff1352bdce1eaea9ae753a129fe6c44eae8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39551/result.json b/data/PartNet-Mobility/Chair/39551/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f773338345c98604821c7e876796eb12119dbf6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-2"], "id": 57, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-3"], "id": 54, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-6"], "id": 55, "name": "back_connector"}, {"text": "Back Connector", "objs": ["original-5"], "id": 56, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-46"], "id": 47, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-45", "original-44"], "id": 48, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["new-8"], "id": 49, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-51"], "id": 42, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-50", "original-49"], "id": 43, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["new-9"], "id": 44, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-15"], "id": 41, "name": "seat_soft_surface"}], "id": 39, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-10"], "id": 40, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-2"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-23"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["original-25"], "id": 35, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-31"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-32"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["original-33"], "id": 32, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-35"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-36"], "id": 28, "name": "wheel"}, {"text": "Wheel", "objs": ["original-37"], "id": 29, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-39"], "id": 24, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-40"], "id": 25, "name": "wheel"}, {"text": "Wheel", "objs": ["original-41"], "id": 26, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-27"], "id": 21, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-29"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 23, "name": "wheel"}], "id": 20, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["original-20"], "id": 10, "name": "seat_connector"}, {"text": "Central Support", "objs": ["new-7"], "id": 36, "name": "central_support"}, {"text": "Central Support", "objs": ["new-6"], "id": 37, "name": "central_support"}, {"text": "Central Support", "objs": ["new-5"], "id": 38, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}, {"text": "Chair Head", "children": [{"text": "Head Rest", "objs": ["original-8"], "id": 59, "name": "headrest"}, {"text": "Head Connector", "objs": ["original-11", "original-9"], "id": 60, "name": "head_connector"}, {"text": "Head Connector", "objs": ["original-12"], "id": 61, "name": "head_connector"}], "id": 58, "name": "chair_head"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39551/result_after_merging.json b/data/PartNet-Mobility/Chair/39551/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca001e04808430fd29abbb4df0603e4f70ef546c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39551/semantics.txt b/data/PartNet-Mobility/Chair/39551/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41bbf598d6cdbc98c030f203473d1272c243d5c8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/semantics.txt
@@ -0,0 +1,17 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge caster
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 hinge caster
+link_13 hinge wheel
+link_14 hinge wheel
+link_15 slider+ seat
+link_16 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c09c1b8ebb99319a0aabe43b7c4a507e69587e4e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6087b006671266ecc7c871cd7dd4d3d766fab051
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c09c1b8ebb99319a0aabe43b7c4a507e69587e4e
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674472bcb94b6e4b26518514cbfec3dc56f3f54f
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-3.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-5.obj
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index 0000000000000000000000000000000000000000..bd62dff2bb5a892f64e803ff9dd810c069f05242
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/new-6.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/new-7.mtl
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/new-8.mtl
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..168c52d74c9e859bb995fabfc49d6f73f5fa7222
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3e620f984a028338c8037a63fe30bf2ff33d0f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d07d9b8b8bf140bdc3d0aca5fb568b521039c466
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.25882352941176473 0.39215686274509803 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..946915318f51c61483e655e2e15ea8cddc174c11
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-15.obj
@@ -0,0 +1,18819 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bffa05bcaf85a8772742759f92f9bcf6edecc6d4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+
+newmtl material_2_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..218603b8df688d5a60176813e8b4dd56892ce762
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-2.obj
@@ -0,0 +1,1601 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eaf010989feb3f92f4353b8b0f13f1be3f8e1461
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/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/39551/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5ce249c66e105dc63698da59de6296551738310
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-20.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1443ce28441a3e23c19b70bc3dab0475f7a2d1c0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-23.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73eda0908506c85587bb72ebc86f3a54bcb83778
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-24.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45497537de789422d2798a54e16aa276059b5442
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b10db0d121fd69b1adbc91d5f2acf6964e4e3e7d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-27.obj
@@ -0,0 +1,133 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e71c49e91f35c3c15634b4ca3687c38116e32b8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d0ea5c78d0c4f48aa8e421937c9ecb79586b20d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c5ffd15b0da0ae1d84a2d1d3cfb1708bf37b9b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318f26ba11198b4c7936cc8f99c612cd870df1fa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e71f43a7b1f74f047bcb981849f59378de79f4c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-32.obj
@@ -0,0 +1,251 @@
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+mtllib original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15ef199d9831bec2c742f319200eb2d537a9134b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..8eb1603360b5048ab3213323891cfed40b225670
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-36.mtl
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index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ae97f10fd419f70da7ec4b49eed1de87bf0025
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c7bfa26404fc97dd35a3d1920a7ed0bbd80aa26
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5d7675311f4a7c7b3752e9213489a5ecacd2ada
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf3a39aa076c31098442e7ae6d904453afe622ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e99bf254c4acc7f570ff94d881a2651aba5eb703
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-44.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a917a1d9bef7199d9de46b14a4e6a76c8447d3b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.8 0.8 0.8 
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+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a1bc6969522a9aa816cd9ee701ec50c8179d049
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-46.mtl
@@ -0,0 +1,14 @@
+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 
+
+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/39551/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99cef47907a85450c15288708727d3e7bf7fbab1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-46.obj
@@ -0,0 +1,558 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85002e2f50d60e5f98f48f0dd0a77522178e0f17
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
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+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a145c0bf1fabb5ec64c3c253912101c5402f56
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.8 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a48affd6a48db7cb3b3dd29055369d5aa4d60a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-50.obj
@@ -0,0 +1,1110 @@
+# SSTK version 0.8.0
+# 50
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-51.obj
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index 0000000000000000000000000000000000000000..26123765c1c0affd77947da259a20c61061c1f28
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f2f6f3f6a96601223462669a9a0b96443dd5662
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..13a6d6f28de8e3d93277404748655e4fec9023bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..086805e00f2cc1e15f77b113060fdf4368607416
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f959c4d5341cd774fae73d01d5db538b055e4efa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/textured_objs/original-9.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o mesh17/mesh17-geometry#mesh17-geometry
+v -0.029288 0.597073 -0.293115
+v 0.009419 0.606037 -0.284674
+v 0.009419 0.597874 -0.283959
+v -0.029288 0.605236 -0.293829
+v 0.048125 0.597073 -0.293115
+v 0.048125 0.605236 -0.293829
+vn 0.16268896138781322 -0.08599497959016875 -0.9829227667155956
+vn -0.16268896138781322 0.08599497959016875 0.9829227667155956
+vn -0.16268896138781322 -0.08599497959016875 -0.9829227667155956
+vn 0.16268896138781322 0.08599497959016875 0.9829227667155956
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//3 2//3 6//3
+f 6//4 2//4 5//4
diff --git a/data/PartNet-Mobility/Chair/39551/tree_hier.html b/data/PartNet-Mobility/Chair/39551/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..11ae63fd1b90cec13dd702ff62e168e356adeaa7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39551/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><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><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>58 chair_head Chair Head</p><a href="parts_render/58.png"><img src="parts_render/58.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_support Back Support</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 back_connector Back Connector</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 back_connector Back Connector</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>47 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 arm_connector Arm Connector</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>42 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 arm_connector Arm Connector</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 seat_surface Seat Surface</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 seat_support Seat Support</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>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><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>59 headrest Head Rest</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 head_connector Head Connector</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 head_connector Head Connector</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td></tr><tr><td><p>57 back_soft_surface Back 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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 seat_soft_surface Seat Soft 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></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>10 seat_connector Seat Connector</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>36 central_support Central Support</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 central_support Central Support</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 central_support Central Support</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_stem Caster Stem</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 chair_arm chair_arm</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 chair_arm chair_arm</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_seat chair_seat</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></td><td></td><td></td><td><p>19 chair_base chair_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>50 chair_head chair_head</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_connector back_connector</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 arm_connector arm_connector</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 arm_connector arm_connector</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_surface seat_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 seat_support seat_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 star_leg_base star_leg_base</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>51 headrest headrest</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 head_connector head_connector</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 head_connector head_connector</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>21 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>47 central_support central_support</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 central_support central_support</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 central_support central_support</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</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 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 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></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 caster caster</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><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><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_stem caster_stem</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 caster_stem caster_stem</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 caster_stem caster_stem</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 wheel wheel</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 wheel wheel</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/bounding_box.json b/data/PartNet-Mobility/Chair/39628/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1218a6daf7a861adcf3c1f0572761439c7f94f30
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.457116, -0.757307, -0.326284], "max": [0.450134, 0.764515, 0.583488]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/meta.json b/data/PartNet-Mobility/Chair/39628/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d09e602eddc2e6c7c16ec44ceb861640cee2f5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/meta.json
@@ -0,0 +1 @@
+{"model_id": "77727bbfb22c57de492d9da2668ec34c", "anno_id": "39628", "user_id": "shape10", "time_in_sec": "766", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/mobility.urdf b/data/PartNet-Mobility/Chair/39628/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d492dfe73e54ad2595b6910ad4d74d3be4b658f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/mobility.urdf
@@ -0,0 +1,515 @@
+<?xml version="1.0" ?>
+<robot name="partnet_77727bbfb22c57de492d9da2668ec34c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-23">
+			<origin xyz="-0.41012550000000003 0 0.2690175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.41012550000000003 0 0.2690175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.41012550000000003 0 -0.2690175"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-24">
+			<origin xyz="-0.0014600731892720053 0.720749710011818 0.2564700925669252"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0014600731892720053 0.720749710011818 0.2564700925669252"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.40866542681072804 -0.720749710011818 0.012547407433074809"/>
+		<axis xyz="-0.9996121572362061 -0.011111534009593886 0.025535640143375896"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-25">
+			<origin xyz="-0.0014600731892720053 0.720749710011818 0.2564700925669252"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0014600731892720053 0.720749710011818 0.2564700925669252"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.40866542681072804 -0.720749710011818 0.012547407433074809"/>
+		<axis xyz="-0.9996121572362061 -0.011111534009593886 0.025535640143375896"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_yoke-20">
+			<origin xyz="-0.33312482545941 0 -0.5351809288402278"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33312482545941 0 -0.5351809288402278"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.33312482545941 0 0.5351809288402278"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-21">
+			<origin xyz="-0.0423490104759581 0.7412810359678583 -0.5218380181414676"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0423490104759581 0.7412810359678583 -0.5218380181414676"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.29077581498345195 -0.7412810359678583 -0.013342910698760257"/>
+		<axis xyz="-0.9946040256900374 -0.09138794391715047 -0.04910270652181238"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-22">
+			<origin xyz="-0.0423490104759581 0.7412810359678583 -0.5218380181414676"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0423490104759581 0.7412810359678583 -0.5218380181414676"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.29077581498345195 -0.7412810359678583 -0.013342910698760257"/>
+		<axis xyz="-0.9946040256900374 -0.09138794391715047 -0.04910270652181238"/>
+		<child link="link_5"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_yoke-17">
+			<origin xyz="0.34010671072581145 0 -0.53518167224448"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34010671072581145 0 -0.53518167224448"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.34010671072581145 0 0.53518167224448"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-18">
+			<origin xyz="-0.03502959639455917 0.6796834816834291 -0.5549412564802886"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03502959639455917 0.6796834816834291 -0.5549412564802886"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.3751363071203706 -0.6796834816834291 0.01975958423580859"/>
+		<axis xyz="0.9946070162422516 0.09135367084379956 0.0491059066207778"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-19">
+			<origin xyz="-0.03502959639455917 0.6796834816834291 -0.5549412564802886"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03502959639455917 0.6796834816834291 -0.5549412564802886"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.3751363071203706 -0.6796834816834291 0.01975958423580859"/>
+		<axis xyz="0.9946070162422516 0.09135367084379956 0.0491059066207778"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-14">
+			<origin xyz="0.417107 0 0.2690175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.417107 0 0.2690175"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.417107 0 -0.2690175"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-15">
+			<origin xyz="-0.08541511595694058 0.6459816027864935 0.2695668150824456"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08541511595694058 0.6459816027864935 0.2695668150824456"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.5025221159569406 -0.6459816027864935 -0.0005493150824456006"/>
+		<axis xyz="-0.9910097666154457 -0.13364360357791663 0.0062473750894989485"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-16">
+			<origin xyz="-0.08541511595694058 0.6459816027864935 0.2695668150824456"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08541511595694058 0.6459816027864935 0.2695668150824456"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.5025221159569406 -0.6459816027864935 -0.0005493150824456006"/>
+		<axis xyz="-0.9910097666154457 -0.13364360357791663 0.0062473750894989485"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_12">
+		<visual name="back_hard_surface-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-33">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_vertical_bar-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_horizontal_bar-35">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<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/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.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-25.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-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_12"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39628/mobility_v2.json b/data/PartNet-Mobility/Chair/39628/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e95c101e308d288f3f77be77946b653e784b013
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":23,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.41012550000000003,0,-0.2690175],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0014600731892720053,-0.720749710011818,-0.2564700925669252],"direction":[-0.9996121572362061,-0.011111534009593886,0.025535640143375896]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0014600731892720053,-0.720749710011818,-0.2564700925669252],"direction":[-0.9996121572362061,-0.011111534009593886,0.025535640143375896]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":20,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.33312482545941,0,0.5351809288402278],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0423490104759581,-0.7412810359678583,0.5218380181414676],"direction":[-0.9946040256900374,-0.09138794391715047,-0.04910270652181238]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0423490104759581,-0.7412810359678583,0.5218380181414676],"direction":[-0.9946040256900374,-0.09138794391715047,-0.04910270652181238]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":17,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.34010671072581145,0,0.53518167224448],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":18,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.03502959639455917,-0.6796834816834291,0.5549412564802886],"direction":[0.9946070162422516,0.09135367084379956,0.0491059066207778]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":19,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.03502959639455917,-0.6796834816834291,0.5549412564802886],"direction":[0.9946070162422516,0.09135367084379956,0.0491059066207778]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":12,"joint":"hinge","name":"caster_yoke","parts":[{"id":14,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.417107,0,-0.2690175],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":15,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08541511595694058,-0.6459816027864935,-0.2695668150824456],"direction":[-0.9910097666154457,-0.13364360357791663,0.0062473750894989485]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":16,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08541511595694058,-0.6459816027864935,-0.2695668150824456],"direction":[-0.9910097666154457,-0.13364360357791663,0.0062473750894989485]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":-1,"joint":"free","name":"chair_back","parts":[{"id":36,"name":"back_hard_surface","children":[]},{"id":33,"name":"back_frame_vertical_bar","children":[]},{"id":34,"name":"back_frame_vertical_bar","children":[]},{"id":35,"name":"back_frame_horizontal_bar","children":[]},{"id":31,"name":"back_connector","children":[]},{"id":32,"name":"back_connector","children":[]},{"id":37,"name":"seat_hard_surface","children":[]},{"id":27,"name":"seat_support","children":[]},{"id":6,"name":"leg","children":[]},{"id":7,"name":"leg","children":[]},{"id":8,"name":"leg","children":[]},{"id":9,"name":"leg","children":[]}],"jointData":{}}]
\ 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/39628/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39628/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/39628/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/39628/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..c6c83794d6c0093691b2c8f1240d1efbd8aa2220
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diff --git a/data/PartNet-Mobility/Chair/39628/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39628/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..664674f9b8aae21501c1562d1c01d6049a8187a2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6909471a4029a3721051b70b4652cf8565da138e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f2f420c5550022733d13e7e8f624db849cc8edf0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39628/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3c914177f5d14c92f4ba967a08e394a84c7365d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39628/result.json b/data/PartNet-Mobility/Chair/39628/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8824a0fd15af3e66d47cb6416aa38e2b8fc4bfd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-9"], "id": 36, "name": "back_hard_surface"}], "id": 29, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-6"], "id": 33, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-7"], "id": 34, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Horizontal Bar", "objs": ["new-8"], "id": 35, "name": "back_frame_horizontal_bar"}], "id": 30, "name": "back_frame"}, {"text": "Back Connector", "objs": ["new-5"], "id": 31, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-4"], "id": 32, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25"], "id": 37, "name": "seat_hard_surface"}], "id": 26, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-24"], "id": 27, "name": "seat_support"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Regular Leg Base", "children": [{"text": "Leg", "objs": ["original-21", "original-20"], "id": 6, "name": "leg"}, {"text": "Leg", "objs": ["original-19"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-18"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-22", "original-8", "original-23"], "id": 9, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-7"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-5"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-6"], "id": 25, "name": "wheel"}], "id": 10, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-12"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-14"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 22, "name": "wheel"}], "id": 11, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-16"], "id": 17, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-15"], "id": 18, "name": "wheel"}, {"text": "Wheel", "objs": ["original-17"], "id": 19, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-9"], "id": 14, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-11"], "id": 15, "name": "wheel"}, {"text": "Wheel", "objs": ["original-10"], "id": 16, "name": "wheel"}], "id": 13, "name": "caster"}], "id": 5, "name": "regular_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/result_after_merging.json b/data/PartNet-Mobility/Chair/39628/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7ef20d7fec6882d574889b8b6221f79261521a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "id": 0, "children": [{"name": "chair_back", "id": 1, "children": [{"name": "back_surface", "id": 2, "children": [{"name": "back_single_surface", "objs": ["new-9"], "id": 3, "ori_id": 36, "text": "back_single_surface"}], "objs": ["new-9"], "ori_id": 29, "text": "back_surface"}, {"name": "back_frame", "id": 4, "children": [{"name": "back_frame_vertical_bar", "objs": ["new-6"], "id": 5, "ori_id": 33, "text": "back_frame_vertical_bar"}, {"name": "back_frame_vertical_bar", "objs": ["new-7"], "id": 6, "ori_id": 34, "text": "back_frame_vertical_bar"}, {"name": "back_frame_horizontal_bar", "objs": ["new-8"], "id": 7, "ori_id": 35, "text": "back_frame_horizontal_bar"}], "objs": ["new-6", "new-7", "new-8"], "ori_id": 30, "text": "back_frame"}, {"name": "back_connector", "objs": ["new-5"], "id": 8, "ori_id": 31, "text": "back_connector"}, {"name": "back_connector", "objs": ["new-4"], "id": 9, "ori_id": 32, "text": "back_connector"}], "objs": ["new-9", "new-6", "new-7", "new-8", "new-5", "new-4"], "ori_id": 1, "text": "chair_back"}, {"name": "chair_seat", "id": 10, "children": [{"name": "seat_surface", "id": 11, "children": [{"name": "seat_single_surface", "objs": ["original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25"], "id": 12, "ori_id": 37, "text": "seat_single_surface"}], "objs": ["original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25"], "ori_id": 26, "text": "seat_surface"}, {"name": "seat_support", "objs": ["original-24"], "id": 13, "ori_id": 27, "text": "seat_support"}], "objs": ["original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25", "original-24"], "ori_id": 2, "text": "chair_seat"}, {"name": "chair_base", "id": 14, "children": [{"name": "regular_leg_base", "id": 15, "children": [{"name": "leg", "objs": ["original-21", "original-20"], "id": 16, "ori_id": 6, "text": "leg"}, {"name": "leg", "objs": ["original-19"], "id": 17, "ori_id": 7, "text": "leg"}, {"name": "leg", "objs": ["original-18"], "id": 18, "ori_id": 8, "text": "leg"}, {"name": "leg", "objs": ["original-22", "original-8", "original-23"], "id": 19, "ori_id": 9, "text": "leg"}], "objs": ["original-21", "original-20", "original-19", "original-18", "original-22", "original-8", "original-23", "original-7", "original-5", "original-6", "original-12", "original-14", "original-13", "original-16", "original-15", "original-17", "original-9", "original-11", "original-10"], "ori_id": 5, "text": "regular_leg_base"}], "objs": ["original-21", "original-20", "original-19", "original-18", "original-22", "original-8", "original-23", "original-7", "original-5", "original-6", "original-12", "original-14", "original-13", "original-16", "original-15", "original-17", "original-9", "original-11", "original-10"], "ori_id": 3, "text": "chair_base"}], "objs": ["new-9", "new-6", "new-7", "new-8", "new-5", "new-4", "original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25", "original-24", "original-21", "original-20", "original-19", "original-18", "original-22", "original-8", "original-23", "original-7", "original-5", "original-6", "original-12", "original-14", "original-13", "original-16", "original-15", "original-17", "original-9", "original-11", "original-10"], "ori_id": 0, "text": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/semantics.txt b/data/PartNet-Mobility/Chair/39628/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d41cbe6bddfcda5b32139d1423bf974dd5f120c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/semantics.txt
@@ -0,0 +1,13 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge caster
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97851f6f99512cb25bbe854db20e962596538195
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/new-4.mtl
@@ -0,0 +1,72 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..b5e7b32d3f09e3964be760969591fc5419172ebf
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/new-6.mtl
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/new-7.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/new-7.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/new-9.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/new-9.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c66b31ed12c9288b62ea0049fb13cdbc7232f4f9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-10.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf76a568a84834c9aa4c8fbde5dc38bae77cd74
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-11.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-12.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/39628/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7fcee18517d0c73df7d132b805c4a7623773ec7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-12.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o mesh12/mesh12-geometry#mesh12-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7932e610399740fd84815b4c51117daf42ebcb84
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-13.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o mesh13/mesh13-geometry#mesh13-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ca123bc063b5a67f3f8dbdcaf5bc6530f6655b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-14.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o mesh14/mesh14-geometry#mesh14-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-15.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/39628/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16fc484147933da9c2f68d1e1b17d697ff8ea75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-15.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o mesh15/mesh15-geometry#mesh15-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a7070ae5349650e72b1657b98e6f0b8a0e33bfd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-16.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-17.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/39628/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39524d974cadc80a74f472925d4ba2ae094e398e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-17.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bdddfb4799b270ee30907a5064ab3ac5574c2ee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-18.obj
@@ -0,0 +1,307 @@
+# 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/39628/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600c4db3376e6a3f2528bd7e76598462e6565c3e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e80c3eb96648dd321eb37ca2583361d87c2d8b0e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..938ae3725340ce6f6fc254c1f321ab4304d87333
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b18fea161316f3163f1ef77fe8c6564c1d92f2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9f6328537b71c9211915ad41166262944c864fa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2508ffe1de863aa2a04ff65386265eefd741fcf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5adf207666cdd473d68edd98b1c558c44ec8ab7a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-25.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db0e3f353d5974a961a7d59f6914b479273bb1b2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-26.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751217559b73b611735a906cf3ca74389216aa01
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-27.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bd75055d6d726116029b48340aca4f754c47c90
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-28.obj
@@ -0,0 +1,96 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9810b7782b5f24de42518bbcc300009a84e3b19
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6e5601d3b9eae9c3222ea159f4e75360219527d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ecfe76168c89f39fa8f31df8a85ec1b44733790
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b5aaf3ae29dea3e8969bb8aa4b6580a95471c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-32.obj
@@ -0,0 +1,97 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e052383520732187edd7dc536c5f4379a1811f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-5.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh5/mesh5-geometry#mesh5-geometry
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-6.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/39628/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5a290c9bf16208b95192f449f3bd2d67676fe19
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-6.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc7d0d04dc83008cce761a3dace865054051ff53
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-7.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a01ec8ac1471dca934df971bbc3f573b27ddcaf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-8.obj
@@ -0,0 +1,65 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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