diff --git a/data/PartNet-Mobility/Fan/101433/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101433/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e59e7ef3ffac682fd226af52b64651e7c9afd89
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101433/textured_objs/original-7.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
+v 0.217522 -0.183992 -0.104647
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.2 0.2 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ac13616192950d6e7453da8f3032bfb2803b6a3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101433/textured_objs/original-8.obj
@@ -0,0 +1,8753 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..1998977a04814924531b0fd18c63daa2b2045463
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..058442445224969276a838000ee920f093b5e90b
--- /dev/null
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+<?xml version="1.0" ?>
+<robot name="partnet_6d0d955e157df3b854c4a6fc7393870c">
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+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
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+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
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+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
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+			<geometry>
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+		</collision>
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+			<geometry>
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+		</collision>
+		<collision>
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
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+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0017108449397590362 -0.32722100000000004 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0017108449397590362 0.32722100000000004 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
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+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
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+			</geometry>
+		</collision>
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+			<geometry>
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+			</geometry>
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+			</geometry>
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+			<origin xyz="0 0 0"/>
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+			</geometry>
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+			<geometry>
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+	</link>
+	<joint name="joint_1" type="fixed">
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diff --git a/data/PartNet-Mobility/Fan/101435/mobility_v2.json b/data/PartNet-Mobility/Fan/101435/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ca86b98712fc7690b2f6f0b7eec5a7817c0b15f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.0017108449397590362, 0.32722100000000004, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101435/result.json b/data/PartNet-Mobility/Fan/101435/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7362436b7ddea27a382f7b5313f7d5e72bb3d648
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101435/result_original.json b/data/PartNet-Mobility/Fan/101435/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd22c78b6bafac2d578baa97aa30a423c2859ad5
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/result_original.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101435/semantics.txt b/data/PartNet-Mobility/Fan/101435/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..083ce8eb714dadcc43d7a37bd69712076db2577e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/semantics.txt
@@ -0,0 +1,2 @@
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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/Fan/101435/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f33984b9928756d9ae876aeea1018a18d20db83
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0b05f8c9b5e8a2602d1c38374a7bfd1b48eeac3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..545002a3c5825e7be8b857891a43a3baf8c82b74
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-11.obj
@@ -0,0 +1,3222 @@
+# SSTK version 0.8.0
+# 11
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-12.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-12.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe845d4f497e27d809ff31af43998a07b3ee2f6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0bba0d54873bc65f3a7a4cc07ee65df1283b363
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-13.obj
@@ -0,0 +1,5453 @@
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
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+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2883c08a8a26b6c1f00534284bba7143f7fa43aa
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-14.obj
@@ -0,0 +1,5857 @@
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-15.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-15.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d97e7c4947f2ae4d5452009c9ffe37bb6d97aa8d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57beb30e0ebc23d8a4b5455f7d3be845ee3aa603
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-16.obj
@@ -0,0 +1,5857 @@
+# SSTK version 0.8.0
+# 16
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-17.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-17.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..759800980c62aa47518e3e409a533d79c40ee23a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf9fa4f221ead8add0240aa543967f06f0d6919
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ed99685254ee09339ddf51b976423d98601d7f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-20.obj
@@ -0,0 +1,383 @@
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-21.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..a2560511b00c8e80480d17664969ae739af84bdb
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80146368f4aa24e7d5963e8dd43c3acf3e8c0ab7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-23.obj
@@ -0,0 +1,13745 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.mtl
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+newmtl material_0_2
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80e31b8219fb8b84500be47c393397c0385d40b6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-27.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18448b5b036155617b4ef9817c0ba54647aab5c5
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-30.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-33.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-33.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8d7236fd96da12bc763cb6c16eff8ee6c87ea0c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.mtl
@@ -0,0 +1,8 @@
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0f0274932abbda292277a0628cc05fa2ceee574
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-35.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-35.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63ffb53add0cd164060b97ebcdba4a2ef7e12b62
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d000ca4be137f6ef25fde4f0970646860f93f517
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-37.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5318f8959ea6492a92b9119ff3f19cf9e4dc0c9c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19153b4c303cf624a0e37e38eeab6c42c08dd53
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c776716201dc3315ee33604bf10420edf85ee27d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-4.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-4.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-40.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-40.obj
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index 0000000000000000000000000000000000000000..63f6e046f8bf466a0b33993ad440d682f26cf001
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-41.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-41.obj
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index 0000000000000000000000000000000000000000..d5c676903fe01e1aced68f54bbb9da5f64a551e3
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e274854d4448dd414d90ef3d5de63bae8dc9caf
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496810041903e4613b6b2a76ec00ffd36486bba9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8557d2554c03f76f03b0c27b4987a11b8a313108
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-5.obj
@@ -0,0 +1,1385 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2760552c842c8b0a84c309eeaafefaf7812b6f6e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
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+d 1
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..193682cd32405c7aa7e79bb8fd7ab4b0496a375b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101435/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Fan/101435/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101435/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9bde070b15d7656baed77c04e6674fc7f714751
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101436/meta.json b/data/PartNet-Mobility/Fan/101436/meta.json
new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101436/mobility.urdf b/data/PartNet-Mobility/Fan/101436/mobility.urdf
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--- /dev/null
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101436/mobility_v2.json b/data/PartNet-Mobility/Fan/101436/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c07cd0e5a15414269288d0aa78f7f70ddc84c3f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.005799499999999999, 0, 0.014506500000000006], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101436/result.json b/data/PartNet-Mobility/Fan/101436/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..63947cef2a010f7d9e212bbf0a18c5a341b71e11
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-7", "original-6", "original-8", "original-4", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-13", "original-11", "original-12", "original-1", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101436/result_original.json b/data/PartNet-Mobility/Fan/101436/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa936edb62c213372e9dcce1a653d98cdacfa567
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-7", "original-6", "original-8", "original-4", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101436/semantics.txt b/data/PartNet-Mobility/Fan/101436/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0e8a8da011e57fd67068878de70df12c95fa7e6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.29000000000000004
+Ns 30
+Kd 0.4745098039215686 0.9647058823529412 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6d4872b22169108e0daf97e70e8d29f981a020
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-1.obj
@@ -0,0 +1,2661 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o light1/light/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c639d6f9f13357f19f4bdafec31d2e9be5b8d7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdc6529c62b44f8c97cf63fa8046f3e4f6abf103
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-10.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-11.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-11.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/Fan/101436/textured_objs/original-11.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4123a50b66b96967ec749b86e3bac157f327dc34
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-11.obj
@@ -0,0 +1,86 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-12.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..07fe8c19cc4859a79b5c583cec77b6408167e5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-12.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/Fan/101436/textured_objs/original-12.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ff7aa87a8e7ae467f59def9eb5579142c519613
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-12.obj
@@ -0,0 +1,86 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-13.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c639d6f9f13357f19f4bdafec31d2e9be5b8d7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-13.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/Fan/101436/textured_objs/original-13.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd93a62c287f4b6192ffc245a3f3819fcee0dde4
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-13.obj
@@ -0,0 +1,96 @@
+# SSTK version 0.8.0
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+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-14.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a5e88416b37ac7efd134d4bef6670be3e7dede7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-14.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/Fan/101436/textured_objs/original-14.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aca8b19e290729dec50b516e7985b8f067893c0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-14.obj
@@ -0,0 +1,2194 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f05d4e7685077fb73a2b0c6d7b2f5c9614a7075d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.5764705882352941 0.6 
+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 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee4408d90c28ebd0b41190189dae332c4e351388
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-2.obj
@@ -0,0 +1,2685 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o main1/main/mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101436/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101436/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Fan/101436/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101436/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8366947e90a7ea35626db43b81e7c6472bb60d1
--- /dev/null
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+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010141273586614565 0 -0.011465573269233734"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.010141273586614565 0 0.011465573269233734"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<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-28.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-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.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-31.obj"/>
+			</geometry>
+		</collision>
+		<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/original-34.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-12.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101437/mobility_v2.json b/data/PartNet-Mobility/Fan/101437/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f61c959e05405972cb385523ff35b7ce4c108d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.010141273586614565, 0, 0.011465573269233734], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101437/result.json b/data/PartNet-Mobility/Fan/101437/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3425c2538efb4ae6595c1e5d8bd930ccb6fa98
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-17", "original-2", "original-29", "original-8", "original-5", "original-6", "original-18", "original-3", "original-20", "original-9"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "original-28", "original-22", "original-26", "original-33", "original-13", "original-27", "original-31", "original-15", "original-34", "original-25", "original-12", "original-24", "original-32", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101437/result_original.json b/data/PartNet-Mobility/Fan/101437/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f792bbe544b180c917da63fea0ad2b23d3718fc
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-17", "original-2", "original-29", "original-8", "original-5", "original-6", "original-18", "original-3", "original-20", "original-9"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101437/semantics.txt b/data/PartNet-Mobility/Fan/101437/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4804548d3fd93094c741a52873d0e1e2e1e3101b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-12.obj
@@ -0,0 +1,1127 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o SimpleSphere02_3_1/SimpleSphere02_3/mesh5/mesh5-geometry#mesh5-geometry
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-15.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-20.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-20.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..8c5416f389e5a13ff3de1a1e5e2e940d1409b6b7
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7c6784355dc6bcba3b2757a7417ea9bbbfa1691
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-22.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-24.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-25.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-28.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-28.obj
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index 0000000000000000000000000000000000000000..3aa71e2c74da0a7a529df078dd79ce120c891427
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9686f00982cc48fee66a81288722c81b14f6d7b8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-31.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-32.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-33.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-33.mtl
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index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-33.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-34.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-34.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/Fan/101437/textured_objs/original-34.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ce03bfa2228f04212f152e93ee8ba8aa04da8d1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-34.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29e36201804ca42830adf672d547aace51f7cc5b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-5.obj
@@ -0,0 +1,1485 @@
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+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101437/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3937a543b409de984ca507362a368cb726ac5194
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101437/textured_objs/original-8.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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diff --git a/data/PartNet-Mobility/Fan/101437/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101437/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46e3c58dfeb76ceb2324e5558d5d281de2e0b91a
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diff --git a/data/PartNet-Mobility/Fan/101439/bounding_box.json b/data/PartNet-Mobility/Fan/101439/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c73f445ff88e240ffb7b8bb7eb47bcc3674b5355
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.811148, -0.635595, -0.446141], "max": [0.670964, 0.631612, 0.480375]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101439/meta.json b/data/PartNet-Mobility/Fan/101439/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..35bbc53cf1ac2229652bd1d3a270499676f74325
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101439/mobility.urdf b/data/PartNet-Mobility/Fan/101439/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7057a438b60d6870379fc043be99a115bf60eff1
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+++ b/data/PartNet-Mobility/Fan/101439/mobility.urdf
@@ -0,0 +1,1087 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7b69b188e23112d1f9f3c6290096f50f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="-0.03736020149419238 0.0019912395094449503 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03736020149419238 0.0019912395094449503 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.03736020149419238 -0.0019912395094449503 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-2">
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-2">
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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
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+		<visual name="base_body-2">
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+			<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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.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-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</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-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<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/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.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-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.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-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.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-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.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-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101439/mobility_v2.json b/data/PartNet-Mobility/Fan/101439/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41487eff7215ac010ed30ebafb34c507baaf162
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.03736020149419238, -0.0019912395094449503, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101439/result.json b/data/PartNet-Mobility/Fan/101439/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d023c29002ba68c25c69833d83fff6c924fca46
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-30", "original-36", "original-41", "original-28", "original-64", "original-43", "original-52", "original-83", "original-22", "original-26", "original-4", "original-65", "original-33", "original-44", "original-16", "original-86", "original-8", "original-13", "original-9", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-59", "original-5", "original-54", "original-63", "original-27", "original-87", "original-51", "original-55", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-85", "original-56", "original-76", "original-72", "original-62", "original-75", "original-23", "original-66", "original-58", "original-67", "original-69", "original-11", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-74", "original-91", "original-25", "original-17", "original-73", "original-12", "original-92", "original-42", "original-79", "original-24", "original-20", "original-88", "original-32", "original-47", "original-53", "original-7", "original-81", "original-84", "original-94", "original-78", "original-89", "original-10", "original-14", "original-82", "original-60", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101439/result_original.json b/data/PartNet-Mobility/Fan/101439/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e970aed33cf43e014f62b4302cbb52675316b9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101439/semantics.txt b/data/PartNet-Mobility/Fan/101439/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.043137254901960784 0.043137254901960784 0.043137254901960784 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5676ccd122d17274620abff0ba2f6c0c8a009534
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-10.obj
@@ -0,0 +1,222 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID53
+v 0.575620 -0.586754 0.480375
+v 0.581029 -0.593803 0.441625
+v 0.575620 -0.586754 0.441625
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+v 0.596286 -0.602611 0.441625
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+v 0.572220 -0.560929 0.441625
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+v 0.639128 -0.569737 0.441625
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-11.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-11.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-12.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-12.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-12.obj
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index 0000000000000000000000000000000000000000..bb43d4b5202d5f42036cb981fcfb9ae9d078c37a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-15.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b799bbf20e4f84d6bba806b9351afa8f3a44aedb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f72e140e98c113b69608e4e57472532c66420efd
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2f4511960634affb66fa9f9dc4de0f3be70a5a2
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f72e140e98c113b69608e4e57472532c66420efd
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70ca8cc6acb1eb11f6297800e0bf7713f3050c00
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7e84a4355d6381de76d7d0d1187fa57695e62e0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ce792df606d9522e3094e504d209c80bfac8264
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..67194d1762ad47de8dd404e1b401f7eba5f097dc
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47692769215f4d738c6598a160c57466c1a7b6f7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ba9e51730decab2c9be5807a221a16ff7bdf74
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-21.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-21.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-22.obj
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+mtllib original-22.mtl
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new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-23.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-23.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-23.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-24.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-24.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-24.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9caebd8358fac62a9abbad25c00bd6c4e97de47a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-24.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-25.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-25.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0051d2ff245f43b64395c388cec62bc13801123
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-25.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-26.obj
@@ -0,0 +1,19 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-27.obj
@@ -0,0 +1,19 @@
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new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-28.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7383651cdfadf8a3a212dfcb3aaa3541b99cc100
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-28.obj
@@ -0,0 +1,47 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..8e1e1c1e99e0c668c1e85ffad407325d67db7991
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-29.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.mtl
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index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..00161ed0ca12745d223e4735bef9a1116524ce94
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-30.obj
@@ -0,0 +1,19 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-31.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-31.obj
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--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-32.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-32.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-33.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-33.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-33.obj
@@ -0,0 +1,20 @@
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+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-35.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-35.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-35.obj
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+mtllib original-35.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03b576bf01bf492db7cd6541c45d84abb8de4513
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-36.obj
@@ -0,0 +1,19 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-37.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-37.mtl
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-37.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-37.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-37.obj
@@ -0,0 +1,19 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04e86d1e179faee1a73bde5ab3a13f18abfa4293
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-38.obj
@@ -0,0 +1,19 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-39.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-39.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-39.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-39.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-39.obj
@@ -0,0 +1,15 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-4.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d743a2a50e0f04d91f1ce88c6190cf74b95cb1bb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-40.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o #ID433
+v -0.600814 0.101748 0.012199
+v -0.600814 0.101748 -0.040255
+v -0.600814 0.154202 0.012199
+v -0.600814 0.154202 -0.040255
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_2
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 3//1 2//1
+f 2//2 3//2 4//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e81fbf07f1121e626eaf85949077362f30c2a6c
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-41.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o #ID439
+v -0.600814 -0.170618 0.012172
+v -0.600814 -0.170618 -0.040282
+v -0.600814 -0.118164 0.012172
+v -0.600814 -0.118164 -0.040282
+vn 1 0 0
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+usemtl material_0_2
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 3//1 2//1
+f 2//2 3//2 4//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61527afd9c81ad2af0ba9a713ef4669390fb68de
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-42.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o #ID445
+v 0.411913 -0.635595 -0.446141
+v 0.411913 0.613331 0.220701
+v 0.411913 0.613331 -0.446141
+v 0.411913 -0.635595 0.220701
+v 0.411913 -0.635595 0.220701
+v 0.411913 -0.635595 -0.446141
+v 0.411913 0.613331 0.220701
+v 0.411913 0.613331 -0.446141
+vn -1 0 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e85a533a3fe6e03ab5a3704fa9ba00a300912b39
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-43.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o #ID451
+v -0.600814 -0.170284 -0.179167
+v -0.600814 -0.170284 -0.231621
+v -0.600814 -0.117830 -0.179167
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+usemtl material_0_2
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 3//1 2//1
+f 2//2 3//2 4//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83e9b0e9a52b3750f1f24bab4757b24ef32551e2
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-44.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o #ID457
+v 0.293502 -0.635595 -0.446141
+v 0.293502 0.613331 0.220701
+v 0.293502 0.613331 -0.446141
+v 0.293502 -0.635595 0.220701
+v 0.293502 -0.635595 0.220701
+v 0.293502 -0.635595 -0.446141
+v 0.293502 0.613331 0.220701
+v 0.293502 0.613331 -0.446141
+vn -1 0 0
+vn 1 0 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5833e174ece82ee568c2a2c3d441162fa161a8d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-45.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o #ID463
+v 0.605111 -0.635595 -0.446141
+v 0.605111 0.613331 0.220701
+v 0.605111 0.613331 -0.446141
+v 0.605111 -0.635595 0.220701
+v 0.605111 -0.635595 0.220701
+v 0.605111 -0.635595 -0.446141
+v 0.605111 0.613331 0.220701
+v 0.605111 0.613331 -0.446141
+vn -1 0 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c549324ab913193d4fd3855602df60d0591070
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-46.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o #ID469
+v -0.487596 -0.635595 -0.446141
+v -0.487596 0.613331 0.220701
+v -0.487596 0.613331 -0.446141
+v -0.487596 -0.635595 0.220701
+v -0.487596 -0.635595 0.220701
+v -0.487596 -0.635595 -0.446141
+v -0.487596 0.613331 0.220701
+v -0.487596 0.613331 -0.446141
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96a47d8dc48077585d72542834bf366fdc87ecce
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-47.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o #ID475
+v -0.018106 -0.635595 -0.446141
+v -0.018106 0.613331 0.220701
+v -0.018106 0.613331 -0.446141
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+v -0.018106 -0.635595 0.220701
+v -0.018106 -0.635595 -0.446141
+v -0.018106 0.613331 0.220701
+v -0.018106 0.613331 -0.446141
+vn -1 0 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0576faa22799ac155ae758c8a923e92afff6aec
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0caef7583360f8e606a7730f2deecf640da463e2
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1810667d3ff5254f5a3107c305527b38a37edfa7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25a309bfe2834952d1159ba26277c03e5346aa79
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-50.obj
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+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o #ID493
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25359d6f89f37045a094f44a86dfc840527d1d89
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-51.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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+mtllib original-51.mtl
+o #ID499
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e0311198b4c47f23189c2104d2e1f8fd8a40594
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-52.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-53.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-53.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ee0d39da0a2b391aa77c67d85f0138ccb4b11b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-53.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc3259f89b5d9c9f05469e8cd3fcb2a85534f2a1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-54.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-55.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-55.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87db0c5f3ad0c04605d1bf75226b2968fd434ad8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-55.obj
@@ -0,0 +1,19 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-56.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-56.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-56.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-57.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-58.obj
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index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-60.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-60.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-60.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-60.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-61.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-61.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-62.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..482075aa080aa9c4d85a8a6181cee73141a722c3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-62.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-63.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-63.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-64.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-64.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-64.obj
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index 0000000000000000000000000000000000000000..ccbefda70dff03aca5c859427fdbb35f37960813
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new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-66.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-66.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-66.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0051fed1f12f41101e7592f2ee801efc6e4e16c6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-67.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-67.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-67.obj
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index 0000000000000000000000000000000000000000..2dab9dd20a69efc492e16a312e765bfa459fbc79
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new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-68.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-68.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb994b83b5ee133939ad9614bbe63200850e42f4
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-7.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-7.mtl
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index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..463b61d3a37628b1c79fedf66d0308c2d16457f7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-70.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbb36674a9b2dc2021b0eb5bce58c2a92cd83e3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-72.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o #ID175
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f9b75b970d7c08666d3d8f5fc30ffb0c3a495a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-73.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
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+mtllib original-73.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4975985ef9b8c21f3358c4e5bed9987b09111b11
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-74.obj
@@ -0,0 +1,42 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o #ID187
+v 0.645879 0.017858 -0.137025
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dab5213bcb2083c0791f6a8113208cb86046f37f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-75.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o #ID193
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36de4cc00df6642277c7fdd8da838b265c47360
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-76.obj
@@ -0,0 +1,142 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o #ID199
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new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-78.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-78.obj
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-79.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f497172b8276c8e898269080d47696b42e6a283
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-79.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fb53613efbc8f90b94579936c857ae634685ba7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-80.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-80.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-80.obj
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index 0000000000000000000000000000000000000000..68e85a258966c912fce4fa72a48d1415d56239ed
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..baa3dcd0d47f3df3e7a049ae1028ea461a577e3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fd0bf87b57a074177c79f4bcd62b1bb274c3908
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-82.obj
@@ -0,0 +1,67 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d725cd461604b363b1ce3895e4fa88df2b4760fa
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-83.obj
@@ -0,0 +1,286 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093e64f0f4fb5b616de6e55bf52667938f793757
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-84.obj
@@ -0,0 +1,108 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4109928941f72882c44d2ed216fe36e73013c092
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-85.obj
@@ -0,0 +1,286 @@
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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+
diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e3b0f8c159973adf72654df8a46ab45417e5d5
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-86.obj
@@ -0,0 +1,108 @@
+# SSTK version 0.8.0
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+mtllib original-86.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7586d963cbadd16ee99a7638a69fe9e8131a3237
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-87.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26e96633cfa1733ceae979b9143343c2254a6be8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7559e8da20239a22f41720ac9d5e5a6981cbd6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-89.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a5ec7fdf7a834e5e5f28eb9d203c0446fa452bb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb3acb084bc35969cfc2946861e057d2ca545c1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-90.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-90.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-90.obj
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index 0000000000000000000000000000000000000000..c3e647cdbf1efd1c8c995bd3d2b0f1a06c7c83bd
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.mtl b/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb8e31849c5ff7a3b1705193cd0373c5745b3b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.mtl
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.obj
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index 0000000000000000000000000000000000000000..da13449282c34ba59162087aa55930af53de3906
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-91.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101439/textured_objs/original-94.obj b/data/PartNet-Mobility/Fan/101439/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a26f39a83c8f5b072460b74e1ff85cec390d7c7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101439/textured_objs/original-94.obj
@@ -0,0 +1,129 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o #ID305
+v 0.645879 -0.101982 -0.155662
+v 0.645879 -0.101872 -0.156624
+v 0.645879 -0.101817 -0.154686
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+v 0.645879 -0.098135 -0.178584
+v 0.645879 -0.097695 -0.154508
+v 0.645879 -0.097420 -0.181662
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+v 0.645879 -0.094122 -0.173966
+v 0.645879 -0.093778 -0.182885
+v 0.645879 -0.092802 -0.181936
+v 0.645879 -0.091647 -0.179683
+v 0.645879 -0.086644 -0.156926
+v 0.645879 -0.085544 -0.154672
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+v 0.645879 -0.074273 -0.181991
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+v 0.645879 -0.073009 -0.173966
+v 0.645879 -0.072184 -0.183201
+v 0.645879 -0.070755 -0.182802
+v 0.645879 -0.070095 -0.156761
+v 0.645879 -0.069766 -0.181606
+v 0.645879 -0.069490 -0.154508
+v 0.645879 -0.068996 -0.178584
+v 0.645879 -0.068707 -0.153642
+v 0.645879 -0.067567 -0.153353
+v 0.645879 -0.065918 -0.154013
+v 0.645879 -0.065423 -0.157805
+v 0.645879 -0.065382 -0.154755
+v 0.645879 -0.065313 -0.157064
+v 0.645879 -0.065203 -0.155662
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_2
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 2//1 4//1 3//1
+f 3//2 4//2 2//2
+f 3//1 4//1 5//1
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+f 5//1 4//1 6//1
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diff --git a/data/PartNet-Mobility/Fan/101440/bounding_box.json b/data/PartNet-Mobility/Fan/101440/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..598b90bdaf56e9bfadebd2eef8e796f7d1b40ebf
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.965273, -0.214109, -0.874971], "max": [0.94283, 0.588356, 0.99582]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101440/images/texture_0.jpg b/data/PartNet-Mobility/Fan/101440/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ada21fef979d4914f33ee2a6c05d4b1373dcf248
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145be2bdd1da1c50df63f0c905333ec9a4bf1e03da558ca56d7b56727c163dd9
+size 1000
diff --git a/data/PartNet-Mobility/Fan/101440/images/texture_1.jpg b/data/PartNet-Mobility/Fan/101440/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6278c2e54f879c6107d837588ee8631d0db296f8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd87a793670ad85665e92dd8d2a357a44f7af8b6897367107fc9463c93ec219
+size 8029
diff --git a/data/PartNet-Mobility/Fan/101440/images/texture_2.jpg b/data/PartNet-Mobility/Fan/101440/images/texture_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9eb563f1ae3fe9f3c629f4ab86cb334721ac9148
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/images/texture_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ad070e4676c0b2256c351de72f25b695a22de268f6cd868930dfd30077d8ed
+size 9924
diff --git a/data/PartNet-Mobility/Fan/101440/meta.json b/data/PartNet-Mobility/Fan/101440/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..def56143a3bf066ebd0115e92fcfd34bac0818e0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/meta.json
@@ -0,0 +1 @@
+{"user_id": "shawn", "model_cat": "Fan", "model_id": "7f8a49c21931b506a653ef053964b884", "version": "1", "anno_id": "1440", "time_in_sec": "113"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101440/mobility.urdf b/data/PartNet-Mobility/Fan/101440/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..37fc3f778f08b7660274a10cc031356e2bbb86db
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/mobility.urdf
@@ -0,0 +1,175 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7f8a49c21931b506a653ef053964b884">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.009834489211384715 0 -0.002688999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.009834489211384715 0 0.002688999999999997"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101440/mobility_v2.json b/data/PartNet-Mobility/Fan/101440/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d71048eb4c9f23644cb3c9c9de23a47a55cc04
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.009834489211384715, 0, 0.002688999999999997], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101440/result.json b/data/PartNet-Mobility/Fan/101440/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f42583656f763a11ee79cb858b6f2156a4419dd
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-16", "original-13", "original-10", "original-7", "original-4", "original-17", "original-5", "original-14", "original-11", "original-8", "original-18"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101440/result_original.json b/data/PartNet-Mobility/Fan/101440/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9032bd653e710ea93910998d7e6b59926536477
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-16", "original-13", "original-10", "original-7", "original-4", "original-17", "original-5", "original-14", "original-11", "original-8", "original-18"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101440/semantics.txt b/data/PartNet-Mobility/Fan/101440/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28a18786aa963b7470553440f328a76c4f10e45
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101440/textured_objs/original-1.obj
@@ -0,0 +1,3144 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Fan/101440/textured_objs/original-14.obj b/data/PartNet-Mobility/Fan/101440/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Fan/101440/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101440/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Fan/101440/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101440/textured_objs/original-8.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Fan/101441/meta.json b/data/PartNet-Mobility/Fan/101441/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb3bbf593e5b3789656bd11270a6603e0ef73ce8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/meta.json
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diff --git a/data/PartNet-Mobility/Fan/101441/mobility.urdf b/data/PartNet-Mobility/Fan/101441/mobility.urdf
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index 0000000000000000000000000000000000000000..e092a1d146c34068d01fa003805014288a0cee00
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/mobility.urdf
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.024330284880911292 0 0.011066465179882735"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.024330284880911292 0 0.011066465179882735"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.024330284880911292 0 0.011066465179882735"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+		<collision>
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+		<parent link="link_1"/>
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+	<link name="link_1">
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+			<geometry>
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+			</geometry>
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+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
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+		<child link="link_1"/>
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diff --git a/data/PartNet-Mobility/Fan/101441/mobility_v2.json b/data/PartNet-Mobility/Fan/101441/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f1128869b15316f5eb704e6491e20c5e266bd7f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.024330284880911292, 0, -0.011066465179882735], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101441/result.json b/data/PartNet-Mobility/Fan/101441/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f80fefb5613bf100e04bf351e5eb569240bf159
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-5", "original-4", "original-6", "original-7", "original-8"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-9", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101441/result_original.json b/data/PartNet-Mobility/Fan/101441/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5360d561c5bb0f770f621cdad5be5b9942e8529
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-5", "original-4", "original-6", "original-7", "original-8"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101441/semantics.txt b/data/PartNet-Mobility/Fan/101441/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101441/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-1.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/Fan/101441/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db40a0a68e129273ca9212a3add01962a28bd4b3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-1.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v -0.030607 -0.083668 -0.019584
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+vn 0 -1 0
+vn 0 1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
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+f 21//1 22//1 23//1
+f 23//2 22//2 21//2
+f 23//1 22//1 24//1
+f 24//2 22//2 23//2
diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73f61031134afab834d56bc007fa6b2a6a49701e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-2.obj
@@ -0,0 +1,5949 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e6bb0ca7a4d552e05b61f54ff3e3e6f84095777
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-3.obj
@@ -0,0 +1,1593 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfef280dd9141723e62b20019ec8e70014f4561c
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Fan/101441/textured_objs/original-9.mtl b/data/PartNet-Mobility/Fan/101441/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/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/Fan/101441/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101441/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40ab0059db4968bcd8c63b0e802d775a47c992b9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101441/textured_objs/original-9.obj
@@ -0,0 +1,347 @@
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+		<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-26.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-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101444/mobility_v2.json b/data/PartNet-Mobility/Fan/101444/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca5ba8f370bf6b6eb126052d91cc6befb3955f6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.010154000000000003, 0, -0.00450811540192636], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101444/result.json b/data/PartNet-Mobility/Fan/101444/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..31ed229d17e197d0a75f9ae3063f323365522d47
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-19", "original-18", "original-17", "original-16", "original-15", "original-3", "original-4", "original-5", "original-6", "original-7", "original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "original-22", "original-26", "original-8", "original-13", "original-9", "original-27", "original-23", "original-25", "original-12", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101444/result_original.json b/data/PartNet-Mobility/Fan/101444/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..99aa37dbae4733a15ac5d2dbfb6c52afa5c9bbf0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-19", "original-18", "original-17", "original-16", "original-15", "original-3", "original-4", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101444/semantics.txt b/data/PartNet-Mobility/Fan/101444/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/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/Fan/101444/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21d8b8ca31312de2e4e96122789f756800d89c33
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-1.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v -0.030603 0.068096 -0.080824
+v -0.049658 0.068096 -0.072931
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/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/Fan/101444/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f96cdfc86a9b44399229e48b04df17c9980ef776
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-10.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-12.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41e2855d4781b28f4545199a9e059c38b3cfc864
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-12.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/Fan/101444/textured_objs/original-12.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f2af36b51816798f9ef5d6029c8637bb3e1c17
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-12.obj
@@ -0,0 +1,1593 @@
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-13.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..e26d0027321416180248372f683f5d4854ab44cd
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86f50c46a90cd7dd8f1f1f96e72a40e605ab088a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-22.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ad02e32fb266ba79599a82b7a272c835608f67
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41e2855d4781b28f4545199a9e059c38b3cfc864
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9372549019607843 0.9686274509803922 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a9c95632c5ff571be7f0a8bfe24eadc8900d0a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-25.obj
@@ -0,0 +1,1593 @@
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-26.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ba83a2f77beaab3ff8e53ed742f4846a0f946cd
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-26.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c765586d07ddd67f7b20ff4559a9ba285f63f68
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1987b30d7f2c3178d5d91292710253a6c0f205d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7008571294d512e3b03439d158d61e73f464e99b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-3.obj
@@ -0,0 +1,514 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-4.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-4.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/Fan/101444/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28e8bf58c00854a47f896efe7817164393179264
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-5.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/Fan/101444/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbcae1eee4ad400c2587ba805b2726906bbc2db
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d507d2af7cf11a75f1ecb53b84238286cbd461d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30da7b313bd3cdf2e496de9406cc720fb150acf2
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/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/Fan/101444/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815525f91a54a5bfb3fe480b04e8c0b4403166e7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-8.obj
@@ -0,0 +1,1647 @@
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diff --git a/data/PartNet-Mobility/Fan/101444/textured_objs/original-9.mtl b/data/PartNet-Mobility/Fan/101444/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-9.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/Fan/101444/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101444/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6637ca1b904c9a6151f1ad07f3fa90800567dfd8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101444/textured_objs/original-9.obj
@@ -0,0 +1,219 @@
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diff --git a/data/PartNet-Mobility/Fan/101445/bounding_box.json b/data/PartNet-Mobility/Fan/101445/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4caaa2960ceb11a69c3e7271b799da47567520fd
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.999409, -0.280203, -0.878123], "max": [0.640212, 0.957908, 0.945186]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101445/meta.json b/data/PartNet-Mobility/Fan/101445/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..601f658c3cd3d19f9adcd08e50f805ce38dafd2a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/meta.json
@@ -0,0 +1 @@
+{"user_id": "shawn", "model_cat": "Fan", "model_id": "86d632c2ed9ca3d9b4e1dccf62563438", "version": "2", "anno_id": "1445", "time_in_sec": "81"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101445/mobility.urdf b/data/PartNet-Mobility/Fan/101445/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b7c179bc312bdfc96815773eaaa55675575240e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/mobility.urdf
@@ -0,0 +1,115 @@
+<?xml version="1.0" ?>
+<robot name="partnet_86d632c2ed9ca3d9b4e1dccf62563438">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00418 0 -0.00735466817990753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.00418 0 0.00735466817990753"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101445/mobility_v2.json b/data/PartNet-Mobility/Fan/101445/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf430a897756bdbd098e2b4fbd996749c56f9f1d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.00418, 0, 0.00735466817990753], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101445/result.json b/data/PartNet-Mobility/Fan/101445/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ae157e93455a67704fed97df2d23c507d9d8cb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-2", "original-1", "original-3", "original-8", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101445/result_original.json b/data/PartNet-Mobility/Fan/101445/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f51daca15d28e526ca5f6172dc972e2686493bb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-2", "original-1", "original-3", "original-8", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101445/semantics.txt b/data/PartNet-Mobility/Fan/101445/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb73f9a5f7977cd9a7f02276bd4aa1ad0e523e7b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-1.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o blade1/blade/mesh1/mesh1-geometry#mesh1-geometry
+v -0.999409 -0.134101 0.054523
+v -0.155076 -0.122926 0.032727
+v -0.155244 -0.113670 0.035202
+v -0.999241 -0.143356 0.052048
+v -0.984326 -0.074216 -0.168460
+v -0.984158 -0.083471 -0.170935
+v -0.146258 -0.100177 -0.014664
+v -0.146091 -0.109432 -0.017139
+v -0.137273 -0.086683 -0.064531
+v -0.137105 -0.095938 -0.067005
+vn 0.02834199866042963 -0.2576859878206007 0.9658129543513347
+vn -0.02834199866042963 0.2576859878206007 -0.9658129543513347
+vn -0.0174669969432234 0.9659258309600965 0.2582289548091619
+vn 0.0174669969432234 -0.9659258309600965 -0.2582289548091619
+vn -0.9977200855325511 0 -0.06748800578561201
+vn 0.9977200855325511 0 0.06748800578561201
+vn 0.12139196947271554 0.25840693501660716 -0.9583787589898153
+vn -0.12139196947271554 -0.25840693501660716 0.9583787589898153
+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 3//3 5//3 1//3
+f 1//4 5//4 3//4
+f 5//5 4//5 1//5
+f 1//6 4//6 5//6
+f 6//4 2//4 4//4
+f 4//3 2//3 6//3
+f 5//3 3//3 7//3
+f 7//4 3//4 5//4
+f 4//5 5//5 6//5
+f 6//6 5//6 4//6
+f 2//4 6//4 8//4
+f 8//3 6//3 2//3
+f 5//3 7//3 9//3
+f 9//4 7//4 5//4
+f 9//7 6//7 5//7
+f 5//8 6//8 9//8
+f 8//4 6//4 10//4
+f 10//3 6//3 8//3
+f 6//7 9//7 10//7
+f 10//8 9//8 6//8
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7e9b6f4337b91e1b19ca89932ca18fac70b4b59
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-2.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o blade2/blade/mesh1/mesh1-geometry#mesh1-geometry
+v 0.452586 -0.134101 -0.878123
+v 0.049295 -0.122926 -0.136012
+v 0.047236 -0.113670 -0.137394
+v 0.454645 -0.143356 -0.876741
+v 0.638153 -0.074216 -0.753569
+v 0.640212 -0.083471 -0.752187
+v 0.085928 -0.100177 -0.104680
+v 0.087988 -0.109432 -0.103297
+v 0.124621 -0.086683 -0.071965
+v 0.126680 -0.095938 -0.070583
+vn -0.850589480313549 -0.2576859036944763 -0.4583617687123218
+vn 0.850589480313549 0.2576859036944763 0.4583617687123218
+vn -0.2148993773783094 0.9659258083336383 -0.1442414309323867
+vn 0.2148993773783094 -0.9659258083336383 0.1442414309323867
+vn 0.5573065378599239 0 -0.8303068245284903
+vn -0.5573065378599239 0 0.8303068245284903
+vn 0.7692842669897821 0.2584068506887382 0.5843180778301504
+vn -0.7692842669897821 -0.2584068506887382 -0.5843180778301504
+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 3//3 5//3 1//3
+f 1//4 5//4 3//4
+f 5//5 4//5 1//5
+f 1//6 4//6 5//6
+f 6//4 2//4 4//4
+f 4//3 2//3 6//3
+f 5//3 3//3 7//3
+f 7//4 3//4 5//4
+f 4//5 5//5 6//5
+f 6//6 5//6 4//6
+f 2//4 6//4 8//4
+f 8//3 6//3 2//3
+f 5//3 7//3 9//3
+f 9//4 7//4 5//4
+f 9//7 6//7 5//7
+f 5//8 6//8 9//8
+f 8//4 6//4 10//4
+f 10//3 6//3 8//3
+f 6//7 9//7 10//7
+f 10//8 9//8 6//8
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6edaef6f49c15ff950e8d8c204ac07ec6d681c6
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-3.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o blade3/blade/mesh1/mesh1-geometry#mesh1-geometry
+v 0.534283 -0.134101 0.845664
+v 0.093242 -0.122926 0.125349
+v 0.095468 -0.113670 0.124257
+v 0.532057 -0.143356 0.846756
+v 0.333633 -0.074216 0.944093
+v 0.331406 -0.083471 0.945186
+v 0.047790 -0.100177 0.141408
+v 0.045564 -0.109432 0.142500
+v 0.000112 -0.086683 0.158559
+v -0.002114 -0.095938 0.159652
+vn 0.8222474710841707 -0.2576859036944763 -0.5074515457980663
+vn -0.8222474710841707 0.2576859036944763 0.5074515457980663
+vn 0.23236638612836405 0.9659258083336383 -0.11398769842685452
+vn -0.23236638612836405 -0.9659258083336383 0.11398769842685452
+vn 0.4404138965630519 0 0.8977948539138266
+vn -0.4404138965630519 0 -0.8977948539138266
+vn -0.8906762817462878 0.25840685068873814 0.37406103867114454
+vn 0.8906762817462878 -0.25840685068873814 -0.37406103867114454
+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 3//3 5//3 1//3
+f 1//4 5//4 3//4
+f 5//5 4//5 1//5
+f 1//6 4//6 5//6
+f 6//4 2//4 4//4
+f 4//3 2//3 6//3
+f 5//3 3//3 7//3
+f 7//4 3//4 5//4
+f 4//5 5//5 6//5
+f 6//6 5//6 4//6
+f 2//4 6//4 8//4
+f 8//3 6//3 2//3
+f 5//3 7//3 9//3
+f 9//4 7//4 5//4
+f 9//7 6//7 5//7
+f 5//8 6//8 9//8
+f 8//4 6//4 10//4
+f 10//3 6//3 8//3
+f 6//7 9//7 10//7
+f 10//8 9//8 6//8
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..020d857db7ee665d1a1ba4142f1cd6ed838f13dc
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-4.obj
@@ -0,0 +1,331 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o dome1/dome/mesh3/mesh3-geometry#mesh3-geometry
+v -0.146330 0.223699 0.032420
+v -0.080365 0.268419 0.098149
+v -0.120903 0.268419 0.027936
+v -0.096962 0.223699 0.117928
+v -0.081947 0.301611 0.021067
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+v 0.072006 0.268419 0.098149
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7c5f3676721bda225662c4190b0e1a72e1aca89
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-6.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-6.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/Fan/101445/textured_objs/original-6.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07870cea767a3b1f024a58fa796be490b3a828a8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-6.obj
@@ -0,0 +1,53 @@
+# SSTK version 0.8.0
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+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a31501efddd625481ea59a1f80758866abaceb
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-7.obj
@@ -0,0 +1,122 @@
+# SSTK version 0.8.0
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+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..296b0168bbfd7ec273ef8dcc2570bcb97837b27f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101445/textured_objs/original-8.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101446/mobility_v2.json b/data/PartNet-Mobility/Fan/101446/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5bbcab4b55a5f41d72c3cc2cba8b6d68e293a81
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.013564, 0.001821999999999999, 0], "direction": [0, 0, -1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101446/result.json b/data/PartNet-Mobility/Fan/101446/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4b138d8d944ff54c334193a2083366414945ac
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101446/result_original.json b/data/PartNet-Mobility/Fan/101446/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d97523cdb02bd219bf4daaa6d3a4ac44b1f86e40
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-11", "original-7", "original-23", "original-19", "original-15", "original-14", "original-10", "original-6", "original-22", "original-18", "original-24", "original-17", "original-21", "original-5", "original-9", "original-13"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101446/semantics.txt b/data/PartNet-Mobility/Fan/101446/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..480b10369e2e81454dae3444bd774de28f51f552
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..871f4e93555103e7bceab442730d5e148811b532
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8917256759675a83c6f943ebf1fef8d4f6927aae
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-100.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-100.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-102.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-102.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-104.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-104.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcf854953e264e5c29d31c5f2ddf9faab5c20f5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.mtl
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a32bb380c75d28376d577f44de3e0bca04999584
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-107.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-109.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-109.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-112.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-112.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-112.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af59dc0c2b7fd54458b8db26684a36cd34edbc1f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-112.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-114.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-114.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-117.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-117.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-119.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-119.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aec3d28715beca3b08c059c6b47e874a556b12b7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-120.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-123.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-123.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c21fdb5d780029fb46beb760cbc0f349f77f168
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-125.obj
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-129.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..533425309cda4d1b1a76daf1d4e666d0130c60c5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-130.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-130.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055193fd99fa68cc99ce82dca9f44309473ab15d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-135.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-138.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-138.obj
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-139.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-139.obj
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index 0000000000000000000000000000000000000000..d549201031f96d33d5ccd76a55c34d7f2d19ee99
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d1943c91f3336dbae8398cf588343aabd44b7c2
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-140.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-140.obj
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-144.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7e8cd70cfc7de93e48d9fa0f6f2380e51d89fc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-145.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-145.obj
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index 0000000000000000000000000000000000000000..8f47dd7a83931bc0617953e41f97d998b0311b14
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-147.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-147.obj
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-149.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-149.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d84b62ba823e463e541a3f265b386c617c50dd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-152.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-152.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-152.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-154.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb9393ef85819e16b8b872363ca70c6abce7e94
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-157.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-157.mtl
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index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-157.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9c08fa9a928a7b1259eb4d9d7722acc18a7c8e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-159.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-159.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf628d6de60e6513057201cbfa4efae122113455
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-165.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-172.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-172.obj
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index 0000000000000000000000000000000000000000..c7f059ebf9253265a76548f911349f9301902aed
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-174.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-174.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.mtl
@@ -0,0 +1,8 @@
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+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa33cd08561a06c3d2a3b90ef8bcf967bd2f1ace
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-175.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22a6a74512faeac5f0597af53ffb82ef18614a25
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-18.obj
@@ -0,0 +1,3225 @@
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.mtl
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+illum 3
+d 1
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+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eabe2f5699f39f03f5f71bfbfda70e220b74c29e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-180.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-183.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-183.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-185.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec05f10e4fdb1ce4500fd204f8d92a3d313a35ab
--- /dev/null
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-189.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4b847f6820beb827a19e1c3b5cfaa2eb74afeff
--- /dev/null
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-194.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-194.obj
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index 0000000000000000000000000000000000000000..e82a1c1fd932517ae344e04fa5db60981e48bed6
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-195.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-195.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-199.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-199.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-199.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4fa19f61589188e326f764c7f1072a22597368f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-200.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-200.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.mtl
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c29654171bc529390bac8faff0aec4542e54162a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-202.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-21.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9305ade2a5b405c50e786320b616800c33ecfde3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-212.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-212.mtl
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index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-212.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7597ca2587bdf86759eab8708eaae14672e8d63a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-212.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-214.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-214.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-217.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-217.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-218.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-218.mtl
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index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ea5de6cf4118ee43353283d57f6dd1b137f73a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.mtl
@@ -0,0 +1,8 @@
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+illum 3
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f74a9312c387bc082de803ccfc23f94a916562f1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-220.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-223.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-223.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-225.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-225.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-225.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffb64513ef00035a2a5c4c71c2211a801aebe84f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-225.obj
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-229.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1659c2d3a37e0a4cecc3b21d5bd67a8e874b35
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-230.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-230.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-230.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-230.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-234.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511b38197202c32680b9515719adca3aeafc3d7a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-234.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-235.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64a44919caae27d6374a24cb5f5a69433da67b97
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-239.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-239.mtl
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index 0000000000000000000000000000000000000000..34065b98a4403ca24df6dd452cb34b51c15c7021
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-239.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-239.obj
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index 0000000000000000000000000000000000000000..4aac2cf12ea51378c7f1f20f2ad5752e0c140c6a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-24.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-240.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf297a9182e9ce8d6d022cd3fb308bd3f9e8351
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-241.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-241.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-242.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-242.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-242.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/Fan/101446/textured_objs/original-242.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2c4e3843b55a4f36078adb5cfbf733337e9c9e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-242.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-29.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-29.obj
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index 0000000000000000000000000000000000000000..2a47d05bd3463b113c45815856013e545d2d13ad
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-35.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..0c440094f7fc13b40ce7afa69335e6015b3a55f9
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-40.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-41.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-42.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-44.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-46.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-46.obj
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index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-48.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-48.obj
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index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-49.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe10171ae7d014bc92534eaed81a3b6d88fc0086
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-52.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-52.obj
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index 0000000000000000000000000000000000000000..186cee5ed548e7b47d31ea7f75309efcc12ea3b1
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-57.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-57.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-57.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-58.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-58.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-60.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-60.obj
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index 0000000000000000000000000000000000000000..e6c73ebad308e6d48288baee681afd493b9a56de
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-62.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-62.obj
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index 0000000000000000000000000000000000000000..adfaeb0c536278427dab56e5b2d0fe5666a09450
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-63.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8579b89c5c14d006255111ccb578b66e8333989e
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-64.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-64.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-74.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-74.mtl
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index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-74.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-74.obj
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index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-75.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-75.obj
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index 0000000000000000000000000000000000000000..3b31538c74c381abf2eb1e608bfeebf643af3e66
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-77.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-77.obj
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index 0000000000000000000000000000000000000000..10fed2014731dced98685e8dd6b0702f1d5cb9c2
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-78.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-78.obj
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index 0000000000000000000000000000000000000000..7121307f2cb33fb6ba728926b5d7f59e32258217
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a937e3eee7b4d6ecd02924dbdd54cb4785fe938
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-84.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-84.obj
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index 0000000000000000000000000000000000000000..ba8e1edd270b8cd89000abe3a61186719f606f07
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-87.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-87.mtl
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index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-87.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d82eb223e7a545916535a4675793f37ea8c2615b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-88.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-88.mtl
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index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1966be3ee616135385197c0e8b306cfadb500b05
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.mtl b/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.mtl
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..184e48523db15d4591bd3700e7ab65c05ff33300
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101446/textured_objs/original-92.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-94.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-94.obj
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diff --git a/data/PartNet-Mobility/Fan/101446/textured_objs/original-97.obj b/data/PartNet-Mobility/Fan/101446/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9fd8ca51a17f8dbdae17f106b759c71dc88823
--- /dev/null
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diff --git a/data/PartNet-Mobility/Fan/101448/bounding_box.json b/data/PartNet-Mobility/Fan/101448/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7b219a6ae6e5b8db7cbb961f1e587348b1dd58
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-1.031572, -0.193188, -0.924116], "max": [1.017511, 0.553994, 0.933175]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101448/meta.json b/data/PartNet-Mobility/Fan/101448/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d2df041a7d8aae87aab5852152d6168364a420
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/meta.json
@@ -0,0 +1 @@
+{"user_id": "shawn", "model_cat": "Fan", "model_id": "88e7026f54e43c469c00f10333f1c0b5", "version": "1", "anno_id": "1448", "time_in_sec": "26"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101448/mobility.urdf b/data/PartNet-Mobility/Fan/101448/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a12ee0cf911160ff9a7ec05741327d5285fdd940
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/mobility.urdf
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<robot name="partnet_88e7026f54e43c469c00f10333f1c0b5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.005794181467654452 0 0.0008906298139340334"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.005794181467654452 0 -0.0008906298139340334"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101448/mobility_v2.json b/data/PartNet-Mobility/Fan/101448/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e265683af54bb65bf5f1542eae3a84b22e9f9106
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.005794181467654452, 0, -0.0008906298139340334], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101448/result.json b/data/PartNet-Mobility/Fan/101448/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c178a0996d7bfc8aaec618e714d6558aedb6cb5
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-4", "original-3", "original-5", "original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101448/result_original.json b/data/PartNet-Mobility/Fan/101448/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7443dcabf02eb4ddf80f7b625df359393ef126d
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-4", "original-3", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101448/semantics.txt b/data/PartNet-Mobility/Fan/101448/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c54391fa725139f37ced2665239c22f1f87e52ab
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8117647058823529 0.7647058823529411 
+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 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ddbdee8472659017c7e1697aa633759a163349
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-1.obj
@@ -0,0 +1,10641 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dd190ce331fb1c8e1bb2958bc9607294581e1b2b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
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+
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+
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91711239d1f601f3478ba262bc02d7ae384e3a82
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f1311a4a6ec47c37aa8c9b92d139c778be6a7c3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 0.8117647058823529 0.7647058823529411 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Kd 0 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a2e3f0ef9cbd9146bf91240bf3ca9638706c01
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-3.obj
@@ -0,0 +1,2644 @@
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diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.mtl b/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f1311a4a6ec47c37aa8c9b92d139c778be6a7c3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8117647058823529 0.7647058823529411 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a186a49458b2081c2107d852f2a704fab9c3bf
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-4.obj
@@ -0,0 +1,2644 @@
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diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f1311a4a6ec47c37aa8c9b92d139c778be6a7c3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8117647058823529 0.7647058823529411 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0 0.8 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db2bb79c66af6b872b02075bb118ee7ccea3ace4
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101448/textured_objs/original-5.obj
@@ -0,0 +1,2644 @@
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diff --git a/data/PartNet-Mobility/Fan/101449/bounding_box.json b/data/PartNet-Mobility/Fan/101449/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..785aa2da0f75e876d987d189cade3ba5403f27a8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.981593, -0.218309, -0.889595], "max": [0.938445, 0.589175, 0.992898]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101449/images/texture_0.jpg b/data/PartNet-Mobility/Fan/101449/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ada21fef979d4914f33ee2a6c05d4b1373dcf248
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:145be2bdd1da1c50df63f0c905333ec9a4bf1e03da558ca56d7b56727c163dd9
+size 1000
diff --git a/data/PartNet-Mobility/Fan/101449/images/texture_1.jpg b/data/PartNet-Mobility/Fan/101449/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6278c2e54f879c6107d837588ee8631d0db296f8
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd87a793670ad85665e92dd8d2a357a44f7af8b6897367107fc9463c93ec219
+size 8029
diff --git a/data/PartNet-Mobility/Fan/101449/images/texture_2.jpg b/data/PartNet-Mobility/Fan/101449/images/texture_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9eb563f1ae3fe9f3c629f4ab86cb334721ac9148
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/images/texture_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21ad070e4676c0b2256c351de72f25b695a22de268f6cd868930dfd30077d8ed
+size 9924
diff --git a/data/PartNet-Mobility/Fan/101449/meta.json b/data/PartNet-Mobility/Fan/101449/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8a44136320da09758b7ef7bb965a083c513dff
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/meta.json
@@ -0,0 +1 @@
+{"user_id": "shawn", "model_cat": "Fan", "model_id": "8a285af9eb2a2906a653ef053964b884", "version": "1", "anno_id": "1449", "time_in_sec": "51"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101449/mobility.urdf b/data/PartNet-Mobility/Fan/101449/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10f249e7ad9129555c8459633b622872acbb2692
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/mobility.urdf
@@ -0,0 +1,175 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8a285af9eb2a2906a653ef053964b884">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001 0 0.005445500000000007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.001 0 -0.005445500000000007"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101449/mobility_v2.json b/data/PartNet-Mobility/Fan/101449/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d8eb9081f49ea96403ecc0015c15250dfe9152
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [0.001, 0, -0.005445500000000007], "direction": [0, -1, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101449/result.json b/data/PartNet-Mobility/Fan/101449/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bea94eebdb5beee50a83e23fb1e9b8d898731f23
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-18", "original-17", "original-5", "original-6", "original-8", "original-11", "original-14", "original-15", "original-12", "original-9", "original-19"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101449/result_original.json b/data/PartNet-Mobility/Fan/101449/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb2096e85ac0aa493f73c96e1d34e5d6e47026f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-18", "original-17", "original-5", "original-6", "original-8", "original-11", "original-14", "original-15", "original-12", "original-9", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101449/semantics.txt b/data/PartNet-Mobility/Fan/101449/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..270994347b4a1d52f2558af81fd15610becef3c9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101449/textured_objs/original-1.obj
@@ -0,0 +1,3144 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Fan/101450/bounding_box.json b/data/PartNet-Mobility/Fan/101450/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b0e13644b42736c7791a2f42396748b95a1aaa
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.734601, -0.707144, -0.159663], "max": [0.716921, 0.744377, 0.151603]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101450/meta.json b/data/PartNet-Mobility/Fan/101450/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e5cb55cec10992dfcd1ce687564aee39f29ba1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/meta.json
@@ -0,0 +1 @@
+{"user_id": "shawn", "model_cat": "Fan", "model_id": "8e9dc192c492061ae82b1dc57ebca27", "version": "2", "anno_id": "1450", "time_in_sec": "112"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101450/mobility.urdf b/data/PartNet-Mobility/Fan/101450/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca9d6e60529b7ebb8aeee472e2017e7b94b1c6d7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/mobility.urdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8e9dc192c492061ae82b1dc57ebca27">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="fan-1">
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013954879391141015 -0.023731548715065765 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.013954879391141015 0.023731548715065765 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Fan/101450/mobility_v2.json b/data/PartNet-Mobility/Fan/101450/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3ece914a97ea80a2b51dd06e3efdd7d55a01eb1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "fan", "parts": [{"id": 1, "name": "fan", "children": []}], "jointData": {"axis": {"origin": [-0.013954879391141015, 0.023731548715065765, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101450/result.json b/data/PartNet-Mobility/Fan/101450/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..062b624b91a1e76fba7eb78ecb0a860e59142ec7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/result.json
@@ -0,0 +1 @@
+[{"text": "Fan", "name": "Fan", "id": 0, "children": [{"text": "fan", "name": "fan", "id": 1, "objs": ["original-10", "original-2", "original-3", "original-4", "original-5", "original-6", "original-7", "original-8", "original-1", "original-11"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-9"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101450/result_original.json b/data/PartNet-Mobility/Fan/101450/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9547a0cef36f7ad0be561c3c0efb048331323b
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Fan", "text": "Fan", "children": [{"id": 1, "name": "fan", "text": "fan", "objs": ["original-10", "original-2", "original-3", "original-4", "original-5", "original-6", "original-7", "original-8", "original-1", "original-11"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Fan/101450/semantics.txt b/data/PartNet-Mobility/Fan/101450/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bce2b8bdd964be1bd41a3c8c00081b6c5e17676
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotor
+link_1 static fan_frame
diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713dc097b2259c8457e280505f86e54aafe109a7
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-1.obj
@@ -0,0 +1,241 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64660211b6cc4bc77c88a5be5dc24f98b91a7e75
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..605b91e526c76d0adad5533282aac57b3be8d925
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-10.obj
@@ -0,0 +1,273 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64660211b6cc4bc77c88a5be5dc24f98b91a7e75
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..302721918cd7e042dfc1040296219ed3b5337df3
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a17acbebb382bb3077bc9d2718a624dd5e771e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d815c96e31c2c8917cdb9a4369b9759444072a80
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a52d35d9de978972dbcbfd44c0a8adc0dd3b6d9
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e15bceca521c9b3cc33767ebfe9a1aad4604a54
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5323c9d9b91b95200d11a3702b4150b46330d0e
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ee5486839fe6d5c7ab2dea88ca0ac485358da0
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d66444bf36204a34389abbf3ee9786fac27925
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.mtl b/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64660211b6cc4bc77c88a5be5dc24f98b91a7e75
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.obj b/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7b359d3c9f6b689ff5e0072ab8849d53a903d1
--- /dev/null
+++ b/data/PartNet-Mobility/Fan/101450/textured_objs/original-9.obj
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