diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-nor-rgba-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3af1d9de4d068155f5264f9bcf66a749e76507cc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44876/result.json b/data/PartNet-Mobility/Chair/44876/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d7761e0820b13da8e47257647121e913050b26
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-33"], "id": 45, "name": "back_soft_surface"}], "id": 42, "name": "back_surface"}, {"text": "Back Support", "objs": ["new-1", "original-5"], "id": 43, "name": "back_support"}, {"text": "Back Connector", "objs": ["new-0"], "id": 44, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-34"], "id": 41, "name": "seat_soft_surface"}], "id": 40, "name": "seat_surface"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-17", "original-31", "original-32"], "id": 6, "name": "central_support"}, {"text": "Central Support", "objs": ["original-2"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["original-1"], "id": 8, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Knob", "objs": ["original-4", "original-3"], "id": 38, "name": "knob"}, {"text": "Knob", "objs": ["original-16", "original-26"], "id": 39, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-15"], "id": 46, "name": "mounting_plate"}], "id": 9, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-13"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-9"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 15, "name": "leg"}, {"text": "Leg", "objs": ["original-25"], "id": 16, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-22"], "id": 35, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-23"], "id": 36, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 37, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-10"], "id": 32, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-11"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-12"], "id": 34, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-6"], "id": 29, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-7"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-8"], "id": 31, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-27"], "id": 26, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-28"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-29"], "id": 28, "name": "wheel"}], "id": 20, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-20"], "id": 23, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["original-18"], "id": 24, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-19"], "id": 25, "name": "caster_stem"}], "id": 21, "name": "caster"}], "id": 10, "name": "star_leg_set"}], "id": 5, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/result_after_merging.json b/data/PartNet-Mobility/Chair/44876/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6dc7c7e011fa3c59ad4ce5c383f4cfb25b08030
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-33", "new-1", "original-5", "new-0", "original-34", "original-17", "original-31", "original-32", "original-2", "original-1", "original-4", "original-3", "original-16", "original-26", "original-15", "original-13", "original-9", "original-30", "original-21", "original-25", "original-22", "original-23", "original-24", "original-10", "original-11", "original-12", "original-6", "original-7", "original-8", "original-27", "original-28", "original-29", "original-20", "original-18", "original-19"], "children": [{"objs": ["original-33", "new-1", "original-5", "new-0"], "children": [{"objs": ["original-33"], "children": [{"objs": ["original-33"], "name": "back_single_surface", "text": "back_single_surface", "id": 3, "ori_id": 45}], "ori_id": 42, "name": "back_surface", "text": "back_surface", "id": 2}, {"objs": ["new-1", "original-5"], "name": "back_support", "text": "back_support", "id": 4, "ori_id": 43}, {"objs": ["new-0"], "name": "back_connector", "text": 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"ori_id": 39}], "ori_id": 9, "name": "mechanical_control", "text": "mechanical_control", "id": 14}, {"objs": ["original-13", "original-9", "original-30", "original-21", "original-25", "original-22", "original-23", "original-24", "original-10", "original-11", "original-12", "original-6", "original-7", "original-8", "original-27", "original-28", "original-29", "original-20", "original-18", "original-19"], "children": [{"objs": ["original-13"], "name": "leg", "text": "leg", "id": 18, "ori_id": 12}, {"objs": ["original-9"], "name": "leg", "text": "leg", "id": 19, "ori_id": 13}, {"objs": ["original-30"], "name": "leg", "text": "leg", "id": 20, "ori_id": 14}, {"objs": ["original-21"], "name": "leg", "text": "leg", "id": 21, "ori_id": 15}, {"objs": ["original-25"], "name": "leg", "text": "leg", "id": 22, "ori_id": 16}, {"objs": ["original-22", "original-23", "original-24"], "children": [{"objs": ["original-23"], "name": "caster_stem", "text": "caster_stem", "id": 24, "ori_id": 36}, {"objs": ["original-24"], "name": "wheel", "text": "wheel", "id": 25, "ori_id": 37}], "ori_id": 17, "name": "caster", "text": "caster", "id": 23}, {"objs": ["original-10", "original-11", "original-12"], "children": [{"objs": ["original-11"], "name": "caster_stem", "text": "caster_stem", "id": 27, "ori_id": 33}, {"objs": ["original-12"], "name": "wheel", "text": "wheel", "id": 28, "ori_id": 34}], "ori_id": 18, "name": "caster", "text": "caster", "id": 26}, {"objs": ["original-6", "original-7", "original-8"], "children": [{"objs": ["original-7"], "name": "caster_stem", "text": "caster_stem", "id": 30, "ori_id": 30}, {"objs": ["original-8"], "name": "wheel", "text": "wheel", "id": 31, "ori_id": 31}], "ori_id": 19, "name": "caster", "text": "caster", "id": 29}, {"objs": ["original-27", "original-28", "original-29"], "children": [{"objs": ["original-28"], "name": "caster_stem", "text": "caster_stem", "id": 33, "ori_id": 27}, {"objs": ["original-29"], "name": "wheel", "text": "wheel", "id": 34, 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/semantics.txt b/data/PartNet-Mobility/Chair/44876/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d7afd3da2738d42a129e3c8fd26820a7a0020d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/semantics.txt
@@ -0,0 +1,14 @@
+link_0 hinge knob
+link_1 hinge knob
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 slider+ seat
+link_8 free chair_leg
+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
+link_12 hinge caster
+link_13 hinge caster
diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f41e3b65b0b74293c4c44598c3a461087de91a18
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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+newmtl material-1
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df6c1ca9619c1ddccb3834e762c0a8ab6a707b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/new-0.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/new-1.obj
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index 0000000000000000000000000000000000000000..6795f914084f505ec0d2ed98e897b0e6b0cc6d07
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c06275ec5acd015ec7b71d7c61c7985c13eece2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad84b93f6522d583b465b9d3fd21d3c9a7ea2aa2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eae05c42d90e678df4b42fc1afdbfa5dba28d4cc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8724c4be581d243a9886fc4e8f9b46d1de2b2bde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40493a3c3d7b7cb7221e4cc34b96fc570b683f91
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..718a17d0c0a879b05154eb24be4cf74e2936a00e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d750f275a27e8d78f4b2751d92925018685d6f6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cf52f80fce7127b44f9e6647659c021d7d729a0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd615efed555da6f061d8e22559247ae3eed423
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b44c7474d6afee045df9b877e02344d1f648d8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70c8be1cf015bda99919f526e3434e1277581ebc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99d78c9dc8749cd531c66f1071e1c4b3aff3ed22
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-17.obj
@@ -0,0 +1,721 @@
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..391ac9536082e1ffd6fb45601aa07289faf186a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f414b992c6c0407c8e01d7d6a398b9db1e2bfd53
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e91070527624a98d41840a8cbbabeb5ccf9408c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40493a3c3d7b7cb7221e4cc34b96fc570b683f91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b9d2b76fa61c448e1f0120f50da3d4f57c9bc40
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d750f275a27e8d78f4b2751d92925018685d6f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8161b5700ad5980bbadd0f35376630ed07656a3c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7863abf5526675a9f6ca18a95c2cf083b4617c23
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..309526962e2a849a2adfa155cf82840ec1c7f15a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40493a3c3d7b7cb7221e4cc34b96fc570b683f91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5346bd5a963ffba3d29439697e6bdce916f22efe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e1f9a96699ee13ddb9c18a4cf6b7b2245162a45
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26ec8362e475309aa859a2093af4710f8dbf1d0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76d198b0b925c7edc0b98b1f5a453efc25e05704
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-26.obj
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index 0000000000000000000000000000000000000000..48fcbef11ca224da0bcf7298cb539abdc4b7d82b
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-27.obj
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index 0000000000000000000000000000000000000000..a734f3d1874b2293b0b39a13719292168b6d29a2
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfe355a1e406bc5f7552ac2792f07b1fa4b9d62
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40493a3c3d7b7cb7221e4cc34b96fc570b683f91
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8eb4c34f3fcfa5ac5834230d6175a259114c784f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..536f1802b8aaaa41682124956bfa55298f44e2f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-3.obj
@@ -0,0 +1,1740 @@
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d750f275a27e8d78f4b2751d92925018685d6f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f24d89e6b1084969ca1c68f622e852b7c670f174
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47c4a299eaa52b59482069a8b4f575e4af793e29
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd1ee6f6db9a65d1c14e383b84f850e575c13b6f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d750f275a27e8d78f4b2751d92925018685d6f6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab49d301ebc1f3b95ed5e30e51170520abeaf1dd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3abb5c269497e84bbb5bcfa857214c621fd1e2aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.mtl
@@ -0,0 +1,21 @@
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a833a2957657dade7e3ed1235f17ee60d3e1bca2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3abb5c269497e84bbb5bcfa857214c621fd1e2aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a46ea7a63f7c495b8721acbb012c1de32e0d569
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3baa4bd7b04f8e4c5fde7303d3fb886056411d6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..027e95121c33f223decfa7d84584ab653208f846
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..413ee6eddf2e9c11df279829f484931730212dea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12d20ca75fb3924be61e9b1a7eea507eb7b6fbfe
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..764f6a33955c513a9d053f4a5ea894baca982b5a
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40493a3c3d7b7cb7221e4cc34b96fc570b683f91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f3e25ddaade4adf31b74442c389b8b4189721d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/44876/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d750f275a27e8d78f4b2751d92925018685d6f6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44876/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/44876/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..1e949404daf16ab626eb689ea40e0836a7eb774e
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diff --git a/data/PartNet-Mobility/Chair/44876/tree_hier.html b/data/PartNet-Mobility/Chair/44876/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..ab96415dce19bd7b585732c514fabba09df60942
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_seat Chair Seat</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>3 chair_base Chair Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>42 back_surface Back Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>43 back_support Back Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 back_connector Back Connector</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 seat_surface Seat Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 star_leg_base Star-shape Leg Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>45 back_soft_surface Back Soft Surface</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 seat_soft_surface Seat Soft Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>6 central_support Central Support</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 mechanical_control Mechanical Control</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 knob Knob</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 knob Knob</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>46 mounting_plate Mounting Plane</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 leg Leg</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 caster Wheel Assembly</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 caster_stem Caster Stem</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster_yoke Caster Yoke</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 caster_stem Caster Stem</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44876/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/44876/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..a1217f2461de684b47592b4fef2789226f148d8c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44876/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_seat chair_seat</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 chair_base chair_base</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 seat_surface seat_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>10 star_leg_base star_leg_base</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>11 central_support central_support</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 central_support central_support</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 central_support central_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 mechanical_control mechanical_control</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>17 star_leg_set star_leg_set</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 knob knob</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 knob knob</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 caster caster</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>26 caster caster</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 caster_stem caster_stem</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_stem caster_stem</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 caster_stem caster_stem</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 caster_stem caster_stem</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/bounding_box.json b/data/PartNet-Mobility/Chair/44961/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a10b1049d4a389e00ab6a21578a474545267b0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.542832, -0.818509, -0.415103], "max": [0.514719, 0.722306, 0.635383]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/images/texture_0.jpg b/data/PartNet-Mobility/Chair/44961/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1a8e633c18df0b7ff70d3ac7ecf46b6944f03384
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172ef612abe5c96b979e8b1fc45a29c4f2ae5d91aa093b37559deec49762651d
+size 1063
diff --git a/data/PartNet-Mobility/Chair/44961/meta.json b/data/PartNet-Mobility/Chair/44961/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a0690d05c60ee6b959f1bbe4866f5d69b9c6af8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/meta.json
@@ -0,0 +1 @@
+{"model_id": "fd244782842c611b6443e5551f9d3958", "anno_id": "44961", "user_id": "zhangyu", "time_in_sec": "166", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/mobility.urdf b/data/PartNet-Mobility/Chair/44961/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a294f683d1a1284375c9b8750314d4d16853485b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/mobility.urdf
@@ -0,0 +1,461 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fd244782842c611b6443e5551f9d3958">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-30">
+			<origin xyz="-0.23201620674226467 0.10494929997483547 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-30">
+			<origin xyz="-0.23201620674226467 0.10494929997483547 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.23201620674226467 0.10494929997483547 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.23201620674226467 0.10494929997483547 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.21791199547693807 -0.10494929997483547 -0.1323726340427047"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+		<limit lower="-0.19198621771937624" upper="0.2792526803190927"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever-31">
+			<origin xyz="0.19220726683642655 0.09702514949603697 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-31">
+			<origin xyz="0.19220726683642655 0.09702514949603697 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.19220726683642655 0.09702514949603697 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.19220726683642655 0.09702514949603697 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.20631147810175315 -0.09702514949603697 -0.1323726340427047"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+		<limit lower="-0.2617993877991494" upper="0.17453292519943295"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_stem-28">
+			<origin xyz="0.44596691387900356 0 -0.0816165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.44596691387900356 0 -0.0816165"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.44596691387900356 0 0.0816165"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-29">
+			<origin xyz="0 0.7571262728211829 -0.0768900157799619"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7571262728211829 -0.0768900157799619"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.44596691387900356 -0.7571262728211829 -0.004726484220038088"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem-26">
+			<origin xyz="0.0652675 0 0.3489935"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0652675 0 0.3489935"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0652675 0 -0.3489935"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-27">
+			<origin xyz="0 0.7571262728211829 0.35372001577996187"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7571262728211829 0.35372001577996187"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.0652675 -0.7571262728211829 -0.0047265157799618596"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_stem-24">
+			<origin xyz="-0.4470952812818848 0 0.0764365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4470952812818848 0 0.0764365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.4470952812818848 0 -0.0764365"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-25">
+			<origin xyz="0 0.7571263117914265 0.08116331179142651"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7571263117914265 0.08116331179142651"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.4470952812818848 -0.7571263117914265 -0.004726811791426505"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_stem-22">
+			<origin xyz="-0.35800308612099646 0 -0.47443149999999995"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.35800308612099646 0 -0.47443149999999995"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.35800308612099646 0 0.47443149999999995"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-23">
+			<origin xyz="0 0.7571262707437332 -0.469705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.7571262707437332 -0.469705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.35800308612099646 -0.7571262707437332 -0.004726499999999967"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_stem-20">
+			<origin xyz="0.2059095 0 -0.5647212812818848"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2059095 0 -0.5647212812818848"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.2059095 0 0.5647212812818848"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-21">
+			<origin xyz="0 0.757126389225537 -0.559994610774463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.757126389225537 -0.559994610774463"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.2059095 -0.757126389225537 -0.004726670507421815"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="arm_holistic_frame-37">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-36">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-40">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-41">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-39">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-35">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-34">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-32">
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014104211265326603 0 -0.1323726340427047"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_12_helper"/>
+	</joint>
+	<link name="link_13">
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_13"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_12_helper"/>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.014104211265326603 0 0.1323726340427047"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12_helper"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/44961/mobility_v2.json b/data/PartNet-Mobility/Chair/44961/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1cc6d05a2258c1be5c3c426f3645ff01f0dff8d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":12,"joint":"hinge","name":"lever","parts":[{"id":30,"name":"lever"}],"jointData":{"axis":{"origin":[0.23201620674226467,-0.10494929997483547,0],"direction":[0,0,1]},"limit":{"a":11,"b":-16,"noLimit":false}}},{"id":1,"parent":12,"joint":"hinge","name":"lever","parts":[{"id":31,"name":"lever"}],"jointData":{"axis":{"origin":[-0.19220726683642655,-0.09702514949603697,0],"direction":[0,0,1]},"limit":{"a":-15,"b":10,"noLimit":false}}},{"id":2,"parent":13,"joint":"hinge","name":"caster_stem","parts":[{"id":28,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.44596691387900356,0,0.0816165],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7571262728211829,0.0768900157799619],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":13,"joint":"hinge","name":"caster_stem","parts":[{"id":26,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.0652675,0,-0.3489935],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7571262728211829,-0.35372001577996187],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":13,"joint":"hinge","name":"caster_stem","parts":[{"id":24,"name":"caster_stem"}],"jointData":{"axis":{"origin":[0.4470952812818848,0,-0.0764365],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7571263117914265,-0.08116331179142651],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":13,"joint":"hinge","name":"caster_stem","parts":[{"id":22,"name":"caster_stem"}],"jointData":{"axis":{"origin":[0.35800308612099646,0,0.47443149999999995],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.7571262707437332,0.469705],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":13,"joint":"hinge","name":"caster_stem","parts":[{"id":20,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.2059095,0,0.5647212812818848],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel"}],"jointData":{"axis":{"origin":[0,-0.757126389225537,0.559994610774463],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":13,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":37,"name":"arm_holistic_frame"},{"id":36,"name":"arm_holistic_frame"},{"id":40,"name":"back_soft_surface"},{"id":41,"name":"back_soft_surface"},{"id":39,"name":"back_support"},{"id":35,"name":"seat_soft_surface"},{"id":34,"name":"seat_support"},{"id":32,"name":"mounting_plate"}],"jointData":{"axis":{"origin":[0.014104211265326603,0,0.1323726340427047],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":13,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":7,"name":"central_support"},{"id":10,"name":"leg"},{"id":11,"name":"leg"},{"id":12,"name":"leg"},{"id":13,"name":"leg"},{"id":14,"name":"leg"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/0.png b/data/PartNet-Mobility/Chair/44961/parts_render/0.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:602dcb019bb62b665834cc282fa7af7cd7a2d80747c498ca44dffa3de18e67af
+size 33445
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/0.txt b/data/PartNet-Mobility/Chair/44961/parts_render/0.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/1.png b/data/PartNet-Mobility/Chair/44961/parts_render/1.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72ee9124cdb89f0ac280a9c8d9f90d8714775f5f0af102f476cf974ada2cb2e
+size 28496
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/1.txt b/data/PartNet-Mobility/Chair/44961/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e90a4c94b69c4c422fd7722948da211a57a37ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/10.png b/data/PartNet-Mobility/Chair/44961/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..89890db2f8b4016e093a561512ae6b4113b9e406
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ec2d35298b4158bfddfa4d4e13196c46dc7fa1801042ec26b71d3a3a3a26c6
+size 26313
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/10.txt b/data/PartNet-Mobility/Chair/44961/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e17739cd901a11ce21f33fb12a4f7051c8a3dcd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/10.txt
@@ -0,0 +1 @@
+10 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/11.png b/data/PartNet-Mobility/Chair/44961/parts_render/11.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f811bd6821508f4d11d4581536b2ffaa10b408aaa9155d8c2e85cf4c1ce73c6b
+size 26058
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/11.txt b/data/PartNet-Mobility/Chair/44961/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edeefe1a1757c0394ce2c4e537365862d8651ea1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/parts_render/11.txt
@@ -0,0 +1 @@
+11 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/parts_render/12.png b/data/PartNet-Mobility/Chair/44961/parts_render/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7750959424a95157a3d0dc1292b120e886320ed
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/44961/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..77279a3d5930cfafc2e9b59c62aced54e45ddaec
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..e0f7f1565e737d3e0d8052f2cd2725f0cc01c43b
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/44961/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eaf0b166fb26c9b714a1a893f4c3eb2d10f3a018
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d3e285c82ff1d1b0aeb7dd87e8a2600e31e2de8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf8bf1e1190ba60ea06ead32b92d8ed0df4a03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..63fa241f22d73a458a7e16f973a611518bb152af
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..78342ccd0c50943c3068e429cde5170fe61f1c88
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/44961/result.json b/data/PartNet-Mobility/Chair/44961/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aeae9413d41d1b841616e1a4e50d8fa6b747a65
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/result.json
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+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-4"], "id": 40, "name": "back_soft_surface"}, {"text": "Back Soft Surface", "objs": ["original-3"], "id": 41, "name": "back_soft_surface"}], "id": 38, "name": "back_surface"}, {"text": "Back Support", "objs": ["new-7"], "id": 39, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-5"], "id": 37, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-6"], "id": 36, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-11"], "id": 35, "name": "seat_soft_surface"}], "id": 33, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-6"], "id": 34, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-5"], "id": 7, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-17", "original-18"], "id": 30, "name": "lever"}, {"text": "Lever", "objs": ["original-20", "original-21"], "id": 31, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-34"], "id": 32, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-0"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-14"], "id": 28, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-15"], "id": 29, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-26"], "id": 26, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-27"], "id": 27, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-29"], "id": 24, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-30"], "id": 25, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-32"], "id": 22, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-33"], "id": 23, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-23"], "id": 20, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-24"], "id": 21, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
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diff --git a/data/PartNet-Mobility/Chair/44961/result_after_merging.json b/data/PartNet-Mobility/Chair/44961/result_after_merging.json
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44961/semantics.txt b/data/PartNet-Mobility/Chair/44961/semantics.txt
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c792b768b2e3d729afd7b28544afd177926e0c6e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad862e2bf4542e8a040dedfea26b50692185b7d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-11.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh13/mesh13-geometry#mesh13-geometry
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f25858cea8c2fe19a858fc1021e9ec1f202f88ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-14.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o Group9/mesh14/mesh14-geometry#mesh14-geometry
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46371e6bcfddd6dbc5c3be258995594f545b2f38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a29fb8b5db8f06a218d0fe0dde32ef5203ae97fa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-15.obj
@@ -0,0 +1,548 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f93e1d920106d41cc1c65fb91d67875a77561f6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad0317d659d18e397e803e9f613617c15a64c8d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8117647058823529 0.7843137254901961 0.792156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bdfbf5d4430096cac2aadd1129b3057415e6c2d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-18.obj
@@ -0,0 +1,173 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f93e1d920106d41cc1c65fb91d67875a77561f6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f454b4787fc7851719da46aa41daeb71acc978af
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7066727ac4705109353e0a0fa8de01b1547abb8b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82932fd274622a78632159ec4dcfe97a2814e07e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-23.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46371e6bcfddd6dbc5c3be258995594f545b2f38
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..918acf69cd16a0aedb5a934f2b3cec28a90574d4
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc1804659893161f27cd838e5d2081ed37fc640
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-26.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46371e6bcfddd6dbc5c3be258995594f545b2f38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451ed174463ce2606389c1a67f70dfccd2b24ec6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-27.obj
@@ -0,0 +1,548 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31c75fdf5d58046df34d9e5152c73ef1c5f93dab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94607aae571095d1536f2b4c649e0a7bf329e592
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1733186a143b6cebb9f1059f50d60ac60ce870ab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46371e6bcfddd6dbc5c3be258995594f545b2f38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d96edd40fbc603e1184371c6702517606f62601a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83de08f4c10b42b839d24d6e92bda7169b2b8ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935d8e2eaa0cd962b0d1cc31693f932b8cf60fd3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46371e6bcfddd6dbc5c3be258995594f545b2f38
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..16a6c6454d3aa6d8268c8e0d09355c5c40103f93
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index 0000000000000000000000000000000000000000..99411c406022a2593ca838c5142f3696ead1619a
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-34.obj
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index 0000000000000000000000000000000000000000..8601fea010363963dae3bf892eb9b0a1b8758cc2
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94607aae571095d1536f2b4c649e0a7bf329e592
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a06fbe2e12b952e6e3822d5137e6efc1c9c167d5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/44961/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-6.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/Chair/44961/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/44961/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705e6cb59f692dc9f5563d40ca115433aa94249e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/44961/tree_hier.html b/data/PartNet-Mobility/Chair/44961/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5b36244a91b0fa76bc718d8f1b854105260a0e26
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/44961/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>38 back_surface Back Surface</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>39 back_support Back Support</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 seat_surface Seat Surface</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 seat_support Seat Support</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>40 back_soft_surface Back Soft Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 back_soft_surface Back Soft Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 seat_soft_surface Seat Soft Surface</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 mechanical_control Mechanical Control</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 lever Lever</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 lever Lever</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 mounting_plate Mounting Plane</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 caster_stem Caster Stem</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_stem Caster Stem</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 caster_stem Caster Stem</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_stem Caster Stem</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/44961/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/44961/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..4bde9fef9d3b2f11e48295a9f9c08f2361c20f9d
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+++ b/data/PartNet-Mobility/Chair/44961/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_base chair_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>5 back_support back_support</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 seat_support seat_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 star_leg_base star_leg_base</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 back_single_surface back_single_surface</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 central_support central_support</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 mechanical_control mechanical_control</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>20 star_leg_set star_leg_set</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 lever lever</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 lever lever</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 caster caster</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>38 caster caster</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 caster_stem caster_stem</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 caster_stem caster_stem</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 caster_stem caster_stem</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/bounding_box.json b/data/PartNet-Mobility/Chair/723/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c1ee3fe909502f2fc9544382c764d88d6ffcd7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.490858, -0.766602, -0.391818], "max": [0.479676, 0.80914, 0.682113]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/meta.json b/data/PartNet-Mobility/Chair/723/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ebeabb66550482f4508d92e072e4d0c391b94c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/meta.json
@@ -0,0 +1 @@
+{"model_id": "1022fe7dd03f6a4d4d5ad9f13ac9f4e7", "anno_id": "723", "user_id": "xiangchaoqun", "time_in_sec": "417", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/mobility.urdf b/data/PartNet-Mobility/Chair/723/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9f1d8820396136da0da51bf37cad54155377a290
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/mobility.urdf
@@ -0,0 +1,467 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1022fe7dd03f6a4d4d5ad9f13ac9f4e7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-37">
+			<origin xyz="0.04360191614851395 0.724833916148514 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04360191614851395 0.724833916148514 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.0390978563524044 -0.724833916148514 -0.6495312231741888"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-34">
+			<origin xyz="0.046534161657978204 0.7272524325666636 -0.23035510488877897"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.046534161657978204 0.7272524325666636 -0.23035510488877897"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.4978430627864442 -0.7272524325666636 -0.0683813959001704"/>
+		<axis xyz="-0.9771112760592786 -0.004842091607417371 -0.21267371334199667"/>
+		<child link="link_1"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-31">
+			<origin xyz="-0.11852022364237247 0.7264013031925148 -0.06725044189994248"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.11852022364237247 0.7264013031925148 -0.06725044189994248"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.12829550725574373 -0.7264013031925148 0.288311200330267"/>
+		<axis xyz="0.5165882667388415 0.00501793457183822 -0.8562192376958092"/>
+		<child link="link_2"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-28">
+			<origin xyz="0.05269027778791671 0.7253353560086507 -0.03867597891881288"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.05269027778791671 0.7253353560086507 -0.03867597891881288"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.23178343389538117 -0.7253353560086507 0.24030269556035694"/>
+		<axis xyz="-0.6051901235682686 0.0015144433917839023 -0.7960795317031064"/>
+		<child link="link_3"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-25">
+			<origin xyz="-0.04142401391888198 0.731950700092448 -0.09979932732698286"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.04142401391888198 0.731950700092448 -0.09979932732698286"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.46749025903396646 -0.731950700092448 -0.2884544524714958"/>
+		<axis xyz="-0.8861740404718192 0.012999757567183728 0.4631701375272859"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="arm_holistic_frame-45">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-50">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-49">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-49">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-46">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-47">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-44">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-42">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-7">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-7">
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0045041713144999915 0 -0.1779066497186364"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5"/>
+		<parent link="link_5_helper"/>
+	</joint>
+	<link name="link_6">
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<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-24.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-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-35">
+			<origin xyz="0.004504059796109554 0 -0.6495312231741888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-36">
+			<origin xyz="0.004504059796109554 0 -0.6495312231741888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004504059796109554 0 -0.6495312231741888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.004504059796109554 0 -0.6495312231741888"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.004504059796109554 0 0.6495312231741888"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-32">
+			<origin xyz="-0.451308901128466 0 -0.29873650078894937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-33">
+			<origin xyz="-0.451308901128466 0 -0.29873650078894937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.451308901128466 0 -0.29873650078894937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.451308901128466 0 -0.29873650078894937"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.451308901128466 0 0.29873650078894937"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-29">
+			<origin xyz="-0.2468157308981162 0 0.22106075843032452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-30">
+			<origin xyz="-0.2468157308981162 0 0.22106075843032452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.2468157308981162 0 0.22106075843032452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.2468157308981162 0 0.22106075843032452"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.2468157308981162 0 -0.22106075843032452"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-26">
+			<origin xyz="0.2844737116832979 0 0.20162671664154405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-27">
+			<origin xyz="0.2844737116832979 0 0.20162671664154405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2844737116832979 0 0.20162671664154405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.2844737116832979 0 0.20162671664154405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.2844737116832979 0 -0.20162671664154405"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-23">
+			<origin xyz="0.42606624511508445 0 -0.3882537797984787"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-24">
+			<origin xyz="0.42606624511508445 0 -0.3882537797984787"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.42606624511508445 0 -0.3882537797984787"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.42606624511508445 0 -0.3882537797984787"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.42606624511508445 0 0.3882537797984787"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_5_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="-0.0045041713144999915 0 0.1779066497186364"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5_helper"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/723/mobility_v2.json b/data/PartNet-Mobility/Chair/723/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..126ef947e90bbed11cf04a9f0f24aeab9240aee8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.04360191614851395,-0.724833916148514,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.046534161657978204,-0.7272524325666636,0.23035510488877897],"direction":[-0.9771112760592786,-0.004842091607417371,-0.21267371334199667]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel"}],"jointData":{"axis":{"origin":[0.11852022364237247,-0.7264013031925148,0.06725044189994248],"direction":[0.5165882667388415,0.00501793457183822,-0.8562192376958092]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.05269027778791671,-0.7253353560086507,0.03867597891881288],"direction":[-0.6051901235682686,0.0015144433917839023,-0.7960795317031064]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel"}],"jointData":{"axis":{"origin":[0.04142401391888198,-0.731950700092448,0.09979932732698286],"direction":[-0.8861740404718192,0.012999757567183728,0.4631701375272859]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":6,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":45,"name":"arm_holistic_frame"},{"id":50,"name":"back_soft_surface"},{"id":49,"name":"back_connector"},{"id":46,"name":"arm_holistic_frame"},{"id":47,"name":"arm_connector"},{"id":44,"name":"seat_soft_surface"},{"id":42,"name":"seat_support"},{"id":7,"name":"central_support"}],"jointData":{"axis":{"origin":[-0.0045041713144999915,0,0.1779066497186364],"direction":[0,-1,0]},"limit":{"a":0,"b":0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"free","name":"leg","parts":[{"id":9,"name":"leg"},{"id":10,"name":"leg"},{"id":11,"name":"leg"},{"id":12,"name":"leg"},{"id":13,"name":"leg"}],"jointData":{"axis":{"origin":[-0.0045041713144999915,0,0.1779066497186364],"direction":[0,1,0]},"limit":{"a":0,"b":0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":7,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":35,"name":"caster_yoke"},{"id":36,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.004504059796109554,0,0.6495312231741888],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke"},{"id":33,"name":"caster_stem"}],"jointData":{"axis":{"origin":[0.451308901128466,0,0.29873650078894937],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":29,"name":"caster_yoke"},{"id":30,"name":"caster_stem"}],"jointData":{"axis":{"origin":[0.2468157308981162,0,-0.22106075843032452],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":26,"name":"caster_yoke"},{"id":27,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.2844737116832979,0,-0.20162671664154405],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":6,"joint":"hinge","name":"caster_yoke","parts":[{"id":23,"name":"caster_yoke"},{"id":24,"name":"caster_stem"}],"jointData":{"axis":{"origin":[-0.42606624511508445,0,0.3882537797984787],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
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+++ b/data/PartNet-Mobility/Chair/723/parts_render/1.txt
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/723/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/723/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..e1fedd307affe4494afebdf877532022b6b58161
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..afee0dc3128617c79fe35f9ff72575e751be2efd
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diff --git a/data/PartNet-Mobility/Chair/723/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/723/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd21b2c668d97c122de0d532ed959031aa1ae760
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diff --git a/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ee6dfd3c6c07df09c294f0a9444308fb3b243bf4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5b977ccb7aaecfef95105efe96feeecf5e807df8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ff9538902357ec8c737a6780707a75ed38c1aae1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/723/result.json b/data/PartNet-Mobility/Chair/723/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4710ca30ddb0511e460b0922b09198c6b1d61686
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-9"], "id": 50, "name": "back_soft_surface"}], "id": 48, "name": "back_surface"}, {"text": "Back Connector", "objs": ["new-4", "new-2"], "id": 49, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-7"], "id": 46, "name": "arm_holistic_frame"}, {"text": "Arm Connector", "objs": ["new-6"], "id": 47, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-8"], "id": 45, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-8"], "id": 44, "name": "seat_soft_surface"}], "id": 41, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-5"], "id": 42, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-11", "original-6"], "id": 7, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-10"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-24"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-31"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-38"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-45"], "id": 13, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-15"], "id": 35, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-14"], "id": 36, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-13"], "id": 37, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-21"], "id": 32, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-20"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 34, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-28"], "id": 29, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-27"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-26"], "id": 31, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-35"], "id": 26, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-34"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-33"], "id": 28, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-42"], "id": 23, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-41"], "id": 24, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-40"], "id": 25, "name": "wheel"}], "id": 18, "name": "caster"}], "id": 8, "name": "star_leg_set"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/result_after_merging.json b/data/PartNet-Mobility/Chair/723/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..902ebd8e126d2846c817abc5973abdd2d2dbae3c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-9", "new-4", "new-2", "new-7", "new-6", "new-8", "original-8", "new-5", "original-11", "original-6", "original-10", "original-24", "original-31", "original-38", "original-45", "original-15", "original-14", "original-13", "original-21", "original-20", "original-19", "original-28", "original-27", "original-26", "original-35", "original-34", "original-33", "original-42", "original-41", "original-40"], "id": 0, "text": "chair", "name": "chair", "ori_id": 0, "children": [{"objs": ["original-9", "new-4", "new-2"], "id": 1, "text": "chair_back", "name": "chair_back", "ori_id": 1, "children": [{"objs": ["original-9"], "id": 2, "text": "back_surface", "name": "back_surface", "ori_id": 48, "children": [{"name": "back_single_surface", "ori_id": 50, "objs": ["original-9"], "id": 3, "text": "back_single_surface"}]}, {"name": "back_connector", "ori_id": 49, "objs": ["new-4", "new-2"], "id": 4, "text": "back_connector"}]}, {"objs": ["new-7", "new-6"], "id": 5, "text": "chair_arm", "name": "chair_arm", "ori_id": 2, "children": [{"name": "arm_holistic_frame", "ori_id": 46, "objs": ["new-7"], "id": 6, "text": "arm_holistic_frame"}, {"name": "arm_connector", "ori_id": 47, "objs": ["new-6"], "id": 7, "text": "arm_connector"}]}, {"objs": ["new-8"], "id": 8, "text": "chair_arm", "name": "chair_arm", "ori_id": 3, "children": [{"name": "arm_holistic_frame", "ori_id": 45, "objs": ["new-8"], "id": 9, "text": "arm_holistic_frame"}]}, {"objs": ["original-8", "new-5"], "id": 10, "text": "chair_seat", "name": "chair_seat", "ori_id": 4, "children": [{"objs": ["original-8"], "id": 11, "text": "seat_surface", "name": "seat_surface", "ori_id": 41, "children": [{"name": "seat_single_surface", "ori_id": 44, "objs": ["original-8"], "id": 12, "text": "seat_single_surface"}]}, {"name": "seat_support", "ori_id": 42, "objs": ["new-5"], "id": 13, "text": "seat_support"}]}, {"objs": ["original-11", "original-6", "original-10", "original-24", "original-31", "original-38", 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"text": "caster", "name": "caster", "ori_id": 18, "children": [{"name": "caster_stem", "ori_id": 24, "objs": ["original-41"], "id": 36, "text": "caster_stem"}, {"name": "wheel", "ori_id": 25, "objs": ["original-40"], "id": 37, "text": "wheel"}]}]}]}]}]}]
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diff --git a/data/PartNet-Mobility/Chair/723/semantics.txt b/data/PartNet-Mobility/Chair/723/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2048ed8fbdf72bcec6959542295545a8fae7b0eb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/semantics.txt
@@ -0,0 +1,12 @@
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+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 slider+ seat
+link_6 free chair_leg
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+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58a2f10edb45cb304f65005832d43e770c214e54
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/new-2.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/723/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..211a91a9aadccfd9d4d9947598c0305fb9f58c56
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/new-2.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58a2f10edb45cb304f65005832d43e770c214e54
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/new-4.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/723/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8d273c0ebaa0140fffbad3fd84672f875ff63d7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/new-4.obj
@@ -0,0 +1,53 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58a2f10edb45cb304f65005832d43e770c214e54
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/new-7.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/723/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ed3fddff939ec137c3980998bcbaa32df74bb32
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..477435f306cd9a5f9b4d4d4d8e121d8e86d90a3a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-10.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/Chair/723/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb66b78b1e63f048c70de8cc1cc88d0ee5828ddf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-10.obj
@@ -0,0 +1,1427 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-11.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/Chair/723/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85bf9dbe3e10aa280bd75becea806111617a7124
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-11.obj
@@ -0,0 +1,114 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-13.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/Chair/723/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17d64333ceb8b7d627316e524320be55a4ccf3c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-13.obj
@@ -0,0 +1,4757 @@
+# SSTK version 0.8.0
+# 13
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e577c995fd025a3e5c1abd65e2c017c3eaec2a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c9f93b35321de293fbf478b8f612b765a61657
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab16b19aebf9696083542f4f85d7fa5a7a4b41b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-19.obj
@@ -0,0 +1,4757 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f3ff6a059002af5c2969796d52dc52d0fffeb59
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19af907dc9b751f8a5d7bdfcf7d624bd063dfb38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9c98a665028bb73919ac7a26c52610416a64f1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-24.obj
@@ -0,0 +1,1427 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-26.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/Chair/723/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ac3912f93866d98c393ff5b7d9dbb85ad2816b8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-26.obj
@@ -0,0 +1,4757 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2 0.2 0.2 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..357bf2ff3a72a57309c29e37eb1eab3b78d212c5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-27.obj
@@ -0,0 +1,262 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff034219659522920a77011eeb6c919ea51a43e0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-31.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/Chair/723/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b304bd0f9132817a4655ace076432da34754873c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-31.obj
@@ -0,0 +1,1427 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-33.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/Chair/723/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8e34d85f1a50429fe700190f80d62d74552ef7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42b52f51c696b905a085605286998829519deb2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb91e11d2952505da2b39acc8418df0575492f64
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58790d614fc86a72efecc19215cc885f33830a04
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-40.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/Chair/723/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8aa2caafc55ebfe852235ed9997021cd37daea3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-40.obj
@@ -0,0 +1,4757 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af89588b7ce4d7ef84738deb19d41374fe03d4ed
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b433ce38e3cbde653f8f3dbb23ab9fe35ed07d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-42.obj
@@ -0,0 +1,309 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebec4972f1911ee9802d3ef94afa5c1fc36a3a6a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-45.obj
@@ -0,0 +1,1427 @@
+# SSTK version 0.8.0
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+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee81efcb8fac3e8c7409e7a6b7a0c735ecd1573c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-6.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
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+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d9cd2637323f8aeea9ffbc46128cfd1f758405
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-8.obj
@@ -0,0 +1,13494 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/723/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8db060305a1e430023810a0566e1c7c221765a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-9.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/Chair/723/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/723/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6887c92a91e0291d42c1ca3db6751813cc5e9c17
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/textured_objs/original-9.obj
@@ -0,0 +1,28491 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/723/tree_hier.html b/data/PartNet-Mobility/Chair/723/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5d40793b443a20a655a86dab0615cc290e0c4939
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+++ b/data/PartNet-Mobility/Chair/723/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>48 back_surface Back Surface</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 back_connector Back Connector</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 arm_connector Arm Connector</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 seat_surface Seat Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 seat_support Seat Support</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>50 back_soft_surface Back Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>44 seat_soft_surface Seat Soft Surface</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 star_leg_set Star-shape Leg Set</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 caster Wheel Assembly</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 caster_stem Caster Stem</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/723/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/723/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..8ec41257ff0a22d85b6fc47fc2b82b09c82ebcd0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/723/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_arm chair_arm</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_base chair_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 arm_connector arm_connector</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 seat_support seat_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 star_leg_base star_leg_base</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 central_support central_support</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 star_leg_set star_leg_set</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 caster caster</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>26 caster caster</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 caster_stem caster_stem</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_stem caster_stem</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 caster_stem caster_stem</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/bounding_box.json b/data/PartNet-Mobility/Chair/762/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2f1de709085553fe458f1ff7fdf80596759f15
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.452523, -0.706599, -0.329578], "max": [0.468962, 0.994555, 0.576188]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/meta.json b/data/PartNet-Mobility/Chair/762/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c8d79d397abff438495fe92816e7d35c1242ff6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/meta.json
@@ -0,0 +1 @@
+{"model_id": "10d174a00639990492d9da2668ec34c", "anno_id": "762", "user_id": "zhouwenxian", "time_in_sec": "1322", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/mobility.urdf b/data/PartNet-Mobility/Chair/762/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36f29ce54a9461c2c6cffe817ceca9f9fb57d762
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/mobility.urdf
@@ -0,0 +1,807 @@
+<?xml version="1.0" ?>
+<robot name="partnet_10d174a00639990492d9da2668ec34c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_stem-33">
+			<origin xyz="-0.0069935 0 -0.487691"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0069935 0 -0.487691"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0069935 0 0.487691"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-34">
+			<origin xyz="0 0.6648493966799938 -0.5347208123651194"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6648493966799938 -0.5347208123651194"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.0069935 -0.6648493966799938 0.04702981236511938"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-35">
+			<origin xyz="0 0.6648493966799938 -0.5347208123651194"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.6648493966799938 -0.5347208123651194"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.0069935 -0.6648493966799938 0.04702981236511938"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_stem-30">
+			<origin xyz="-0.4333105 0 -0.1777125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4333105 0 -0.1777125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.4333105 0 0.1777125"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-31">
+			<origin xyz="0 0.664918865712339 -0.22481660868780365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.664918865712339 -0.22481660868780365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.4333105 -0.664918865712339 0.04710410868780365"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-32">
+			<origin xyz="-0.0021330995253785352 0.6616297186300059 -0.23744734422449318"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0021330995253785352 0.6616297186300059 -0.23744734422449318"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.43117740047462144 -0.6616297186300059 0.05973484422449318"/>
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+		<child link="link_5"/>
+		<parent link="link_3"/>
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+		<visual name="caster_stem-27">
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+			<geometry>
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+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
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+	<link name="link_7">
+		<visual name="wheel-28">
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+			<geometry>
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+		<axis xyz="1 0 0"/>
+		<child link="link_7"/>
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+	<link name="link_8">
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+		<axis xyz="1 0 0"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
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+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_16"/>
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+			<geometry>
+				<mesh filename="textured_objs/new-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_15_helper"/>
+	</joint>
+	<link name="link_16">
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-34.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-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_16"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.008045592793736 0 0.060616659688683586"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15_helper"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/762/mobility_v2.json b/data/PartNet-Mobility/Chair/762/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eed70a77eda11493f7c5ac686c9f4f940dd44e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":33,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.0069935,0,0.487691],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6648493966799938,0.5347208123651194],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6648493966799938,0.5347208123651194],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":30,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.4333105,0,0.1777125],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.664918865712339,0.22481660868780365],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0021330995253785352,-0.6616297186300059,0.23744734422449318],"direction":[-0.9994908309717804,0.00787443135093165,0.030920416139498006]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":27,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.26091149999999996,0,-0.3010635],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649678548526803,-0.27925787467579255],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649678548526803,-0.27925787467579255],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":24,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.26760249999999997,0,-0.3015725],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649678548526803,-0.27925787467579255],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649678548526803,-0.27925787467579255],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":21,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.430953,0,0.201757],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649679093392156,0.2236058183643991],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.6649679093392156,0.2236058183643991],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":16,"joint":"slider","name":"chair_head","parts":[{"id":50,"name":"headrest","children":[]},{"id":51,"name":"head_connector","children":[]},{"id":47,"name":"back_hard_surface","children":[]},{"id":46,"name":"back_support","children":[]},{"id":48,"name":"back_connector","children":[]},{"id":49,"name":"back_connector","children":[]},{"id":42,"name":"armrest_hard_surface","children":[]},{"id":43,"name":"arm_vertical_bar","children":[]},{"id":44,"name":"arm_connector","children":[]},{"id":39,"name":"armrest_hard_surface","children":[]},{"id":40,"name":"arm_vertical_bar","children":[]},{"id":41,"name":"arm_connector","children":[]},{"id":38,"name":"seat_hard_surface","children":[]},{"id":37,"name":"seat_support","children":[]},{"id":10,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[0.008045592793736,0,0.060616659688683586],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":16,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":8,"name":"central_support","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]},{"id":15,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 31060
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\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/762/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_head Chair Head
\ No newline at end of file
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@@ -0,0 +1 @@
+10 seat_connector Seat Connector
\ No newline at end of file
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@@ -0,0 +1,3 @@
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+11 leg Leg
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/762/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/762/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..cc547d545e51754160712610182a57a584d159ec
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new file mode 100644
index 0000000000000000000000000000000000000000..8cbcfc3f44df772539770ff488a715e7093c9e36
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diff --git a/data/PartNet-Mobility/Chair/762/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/762/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3478b45d44f3d7ca22ecabd491099311e81501b
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diff --git a/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ff91774cb71c490e24fd95a010a2ea1f7f1c791
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f54049be0c6aa80954b48893b2de15fbf17c58d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..adaa46e5c4d2bbe90291b582fa7250247b6ce171
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/762/result.json b/data/PartNet-Mobility/Chair/762/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fdc4beec7e122f131bc55552c7823146cfcb3d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Head", "children": [{"text": "Head Rest", "objs": ["original-33", "original-32"], "id": 50, "name": "headrest"}, {"text": "Head Connector", "objs": ["original-34"], "id": 51, "name": "head_connector"}], "id": 1, "name": "chair_head"}, {"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-41", "original-9", "original-35", "original-40", "original-38", "original-39", "original-41", "original-44", "original-36"], "id": 47, "name": "back_hard_surface"}], "id": 45, "name": "back_surface"}, {"text": "Back Support", "objs": ["new-45", "original-42", "original-31", "original-45", "original-43", "original-37"], "id": 46, "name": "back_support"}, {"text": "Back Connector", "objs": ["new-51"], "id": 48, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-50"], "id": 49, "name": "back_connector"}], "id": 2, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-8"], "id": 42, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-53"], "id": 43, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["new-39", "new-42"], "id": 44, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-7"], "id": 39, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-38"], "id": 40, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["new-37"], "id": 41, "name": "arm_connector"}], "id": 4, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-46", "original-30"], "id": 38, "name": "seat_hard_surface"}], "id": 36, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-14"], "id": 37, "name": "seat_support"}], "id": 5, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-28", "new-34", "original-11", "original-12"], "id": 8, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-29"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-33"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-32"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-31"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["new-30"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-26"], "id": 33, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-25"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["original-24"], "id": 35, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-29"], "id": 30, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-27"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["original-28"], "id": 32, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-16"], "id": 27, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-15"], "id": 28, "name": "wheel"}, {"text": "Wheel", "objs": ["original-17"], "id": 29, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-20"], "id": 24, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 25, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 26, "name": "wheel"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-23"], "id": 21, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-22"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["original-21"], "id": 23, "name": "wheel"}], "id": 20, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["new-27"], "id": 10, "name": "seat_connector"}], "id": 7, "name": "star_leg_base"}], "id": 6, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/result_after_merging.json b/data/PartNet-Mobility/Chair/762/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..18c767ccecbe31b7a14682f4f6426fcdd219759e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "objs": ["original-33", "original-32", "original-34", "new-41", "original-9", "original-35", "original-40", "original-38", "original-39", "original-41", "original-44", "original-36", "new-45", "original-42", "original-31", "original-45", "original-43", "original-37", "new-51", "new-50", "original-8", "new-53", "new-39", "new-42", "original-7", "new-38", "new-37", "original-46", "original-30", "original-14", "new-28", "new-34", "original-11", "original-12", "new-29", "new-33", "new-32", "new-31", "new-30", "original-26", "original-25", "original-24", "original-29", "original-27", "original-28", "original-16", "original-15", "original-17", "original-20", "original-19", "original-18", "original-23", "original-22", "original-21", "new-27"], "children": [{"name": "chair_head", "objs": ["original-33", "original-32", "original-34"], "children": [{"name": "headrest", "objs": ["original-33", "original-32"], "id": 2, "text": "headrest", "ori_id": 50}, {"name": "head_connector", "objs": ["original-34"], "id": 3, "text": "head_connector", "ori_id": 51}], "id": 1, "text": "chair_head", "ori_id": 1}, {"name": "chair_back", "objs": ["new-41", "original-9", "original-35", "original-40", "original-38", "original-39", "original-41", "original-44", "original-36", "new-45", "original-42", "original-31", "original-45", "original-43", "original-37", "new-51", "new-50"], "children": [{"name": "back_surface", "objs": ["new-41", "original-9", "original-35", "original-40", "original-38", "original-39", "original-41", "original-44", "original-36"], "children": [{"name": "back_single_surface", "objs": ["new-41", "original-9", "original-35", "original-40", "original-38", "original-39", "original-41", "original-44", "original-36"], "id": 6, "text": "back_single_surface", "ori_id": 47}], "id": 5, "text": "back_surface", "ori_id": 45}, {"name": "back_support", "objs": ["new-45", "original-42", "original-31", "original-45", "original-43", "original-37"], "id": 7, "text": "back_support", "ori_id": 46}, {"name": "back_connector", "objs": ["new-51"], "id": 8, "text": "back_connector", "ori_id": 48}, {"name": "back_connector", "objs": ["new-50"], "id": 9, "text": "back_connector", "ori_id": 49}], "id": 4, "text": "chair_back", "ori_id": 2}, {"name": "chair_arm", "objs": ["original-8", "new-53", "new-39", "new-42"], "children": [{"name": "arm_horizontal_bar", "objs": ["original-8"], "id": 11, "text": "arm_horizontal_bar", "ori_id": 42}, {"name": "arm_near_vertical_bar", "objs": ["new-53"], "id": 12, "text": "arm_near_vertical_bar", "ori_id": 43}, {"name": "arm_connector", "objs": ["new-39", "new-42"], "id": 13, "text": "arm_connector", "ori_id": 44}], "id": 10, "text": "chair_arm", "ori_id": 3}, {"name": "chair_arm", "objs": ["original-7", "new-38", "new-37"], "children": [{"name": "arm_horizontal_bar", "objs": ["original-7"], "id": 15, "text": "arm_horizontal_bar", "ori_id": 39}, {"name": "arm_near_vertical_bar", "objs": ["new-38"], "id": 16, "text": "arm_near_vertical_bar", "ori_id": 40}, {"name": "arm_connector", "objs": ["new-37"], "id": 17, "text": "arm_connector", "ori_id": 41}], "id": 14, "text": "chair_arm", "ori_id": 4}, {"name": "chair_seat", "objs": ["original-46", "original-30", "original-14"], "children": [{"name": "seat_surface", "objs": ["original-46", "original-30"], "children": [{"name": "seat_single_surface", "objs": ["original-46", "original-30"], "id": 20, "text": "seat_single_surface", "ori_id": 38}], "id": 19, "text": "seat_surface", "ori_id": 36}, {"name": "seat_support", "objs": ["original-14"], "id": 21, "text": "seat_support", "ori_id": 37}], "id": 18, "text": "chair_seat", "ori_id": 5}, {"name": "chair_base", "objs": ["new-28", "new-34", "original-11", "original-12", "new-29", "new-33", "new-32", "new-31", "new-30", "original-26", "original-25", "original-24", "original-29", "original-27", "original-28", "original-16", "original-15", "original-17", "original-20", "original-19", "original-18", "original-23", "original-22", "original-21", "new-27"], "children": [{"name": "star_leg_base", "objs": ["new-28", "new-34", "original-11", "original-12", "new-29", "new-33", "new-32", "new-31", "new-30", "original-26", "original-25", "original-24", "original-29", "original-27", "original-28", "original-16", "original-15", "original-17", "original-20", "original-19", "original-18", "original-23", "original-22", "original-21", "new-27"], "children": [{"name": "central_support", "objs": ["new-28", "new-34", "original-11", "original-12"], "id": 24, "text": "central_support", "ori_id": 8}, {"name": "star_leg_set", "objs": ["new-29", "new-33", "new-32", "new-31", "new-30", "original-26", "original-25", "original-24", "original-29", "original-27", "original-28", "original-16", "original-15", "original-17", "original-20", "original-19", "original-18", "original-23", "original-22", "original-21"], "children": [{"name": "leg", "objs": ["new-29"], "id": 26, "text": "leg", "ori_id": 11}, {"name": "leg", "objs": ["new-33"], "id": 27, "text": "leg", "ori_id": 12}, {"name": "leg", "objs": ["new-32"], "id": 28, "text": "leg", "ori_id": 13}, {"name": "leg", "objs": ["new-31"], "id": 29, "text": "leg", "ori_id": 14}, {"name": "leg", "objs": ["new-30"], "id": 30, "text": "leg", "ori_id": 15}, {"name": "caster", "objs": ["original-26", "original-25", "original-24"], "children": [{"name": "caster_stem", "objs": ["original-26"], "id": 32, "text": "caster_stem", "ori_id": 33}, {"name": "wheel", "objs": ["original-25"], "id": 33, "text": "wheel", "ori_id": 34}, {"name": "wheel", "objs": ["original-24"], "id": 34, "text": "wheel", "ori_id": 35}], "id": 31, "text": "caster", "ori_id": 16}, {"name": "caster", "objs": ["original-29", "original-27", "original-28"], "children": [{"name": "caster_stem", "objs": ["original-29"], "id": 36, "text": "caster_stem", "ori_id": 30}, {"name": "wheel", "objs": ["original-27"], "id": 37, "text": "wheel", "ori_id": 31}, {"name": "wheel", "objs": ["original-28"], "id": 38, "text": "wheel", "ori_id": 32}], "id": 35, "text": "caster", "ori_id": 17}, {"name": "caster", "objs": ["original-16", "original-15", "original-17"], "children": [{"name": "caster_stem", "objs": ["original-16"], "id": 40, "text": "caster_stem", "ori_id": 27}, {"name": "wheel", "objs": ["original-15"], "id": 41, "text": "wheel", "ori_id": 28}, {"name": "wheel", "objs": ["original-17"], "id": 42, "text": "wheel", "ori_id": 29}], "id": 39, "text": "caster", "ori_id": 18}, {"name": "caster", "objs": ["original-20", "original-19", "original-18"], "children": [{"name": "caster_stem", "objs": ["original-20"], "id": 44, "text": "caster_stem", "ori_id": 24}, {"name": "wheel", "objs": ["original-19"], "id": 45, "text": "wheel", "ori_id": 25}, {"name": "wheel", "objs": ["original-18"], "id": 46, "text": "wheel", "ori_id": 26}], "id": 43, "text": "caster", "ori_id": 19}, {"name": "caster", "objs": ["original-23", "original-22", "original-21"], "children": [{"name": "caster_stem", "objs": ["original-23"], "id": 48, "text": "caster_stem", "ori_id": 21}, {"name": "wheel", "objs": ["original-22"], "id": 49, "text": "wheel", "ori_id": 22}, {"name": "wheel", "objs": ["original-21"], "id": 50, "text": "wheel", "ori_id": 23}], "id": 47, "text": "caster", "ori_id": 20}], "id": 25, "text": "star_leg_set", "ori_id": 9}], "id": 23, "text": "star_leg_base", "ori_id": 7}], "id": 22, "text": "chair_base", "ori_id": 6}], "id": 0, "text": "chair", "ori_id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/semantics.txt b/data/PartNet-Mobility/Chair/762/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41bbf598d6cdbc98c030f203473d1272c243d5c8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/semantics.txt
@@ -0,0 +1,17 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge caster
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge caster
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 hinge caster
+link_13 hinge wheel
+link_14 hinge wheel
+link_15 slider+ seat
+link_16 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-27.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/new-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/new-27.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-30.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/new-30.mtl
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-38.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/new-38.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-38.obj b/data/PartNet-Mobility/Chair/762/textured_objs/new-38.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-53.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/new-53.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/new-53.obj b/data/PartNet-Mobility/Chair/762/textured_objs/new-53.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf180f14f9a48bac29546d2762589b67d0243efb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-11.obj
@@ -0,0 +1,100 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8ec8d3c9469d2383b12ab7a37456ab0d9b7e6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-12.obj
@@ -0,0 +1,88 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o mesh12/mesh12-geometry#mesh12-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33b54cbb1bd4ae33b32b294cd39b3148a82c2cb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-14.obj
@@ -0,0 +1,707 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o mesh14/mesh14-geometry#mesh14-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7857a0769481d3367d3600a938d1086b6259d966
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751429fa7fee6a7d3406242e3b864382c855fd89
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-16.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0326fadc8b0646e015fd50bd8cbcb5859d7c4b01
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-17.obj
@@ -0,0 +1,87 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o mesh17/mesh17-geometry#mesh17-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f5ca60bc06ea84c93e5d351804a56fafb56182
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-18.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9314c7d777f96f1039c400e91e0ef9dd270b9c38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-19.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ac8ebe631e158d2deef32a03e5483a94f4d9db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-20.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh20/mesh20-geometry#mesh20-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40fdc04fd8a29b73c63459cc8a9174c947582847
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-21.obj
@@ -0,0 +1,115 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bc7744b871c10bad66d1fa1ede0299bd118b75
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-22.obj
@@ -0,0 +1,87 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c695a6353243729f477f250a2f48198c987b23c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-23.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o mesh23/mesh23-geometry#mesh23-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1520c25de84a26a1057fce9a0c6bde86e4a741
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-24.obj
@@ -0,0 +1,87 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh24/mesh24-geometry#mesh24-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9b27dd6a9876bbb1c642916200d14bd6f2c5cef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-25.obj
@@ -0,0 +1,100 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41156ae3058ee90177c8eb09bc3d3e7d07f8d03c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-26.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
+v 0.030279 -0.628865 0.513576
+v -0.004948 -0.657277 0.489740
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5da94effcc5df9fb3b1ef08af0c491cf9539ebc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-27.obj
@@ -0,0 +1,89 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..513895f2b839f9593ab18a1897a968c4b7c255b9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-28.obj
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+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7147deaec016a60a6e297c3e9b75be27dc7651b4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-29.obj
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+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f46bd769ce356d41f984f468f861317884e6eb19
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d913437cb8e233d3608450a2509bc826c58e3db
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be804f8964797e0f4594633a7f0f68d4408c1178
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-32.obj
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+# SSTK version 0.8.0
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c756c19504b49258508c39545211444fe3b045d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-35.obj
@@ -0,0 +1,53 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-36.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f06ecef8446dcc804371bf7665f2245a1d37c2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-36.obj
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+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57d6f7f0c6d9c9480f267ee286b4de457d482922
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-37.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-38.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..380dd645e0ff22e26ef70e3dcbd6b18de44ac4a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbb82e4e7151ab0cf20ace7894a96338eb9d23dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-39.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o mesh39/mesh39-geometry#mesh39-geometry
+v -0.172310 0.059195 -0.127484
+v -0.185129 0.075647 -0.118820
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e177aa0e75e08461dfe41d90563eb4cbc3337e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-40.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
+v 0.194415 0.153649 -0.109078
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49892b93231a1b91f52337e1e78af3da5b36e367
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-41.obj
@@ -0,0 +1,30 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
+v 0.098398 0.142841 -0.158986
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..330b6f2347beabaad1899c5bcb9d04690170322d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-42.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fc79cd8c10e500d495b61b56a111593a7306854
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-43.obj
@@ -0,0 +1,61 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262960add047739b55f33f8536327303daae1898
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-44.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o mesh44/mesh44-geometry#mesh44-geometry
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc5935dcaabe32b34c6730d7012b7863264088c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-45.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56b266c14799a9f16641a3ae86d5551973167352
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44a1da074bd594659c90e7160be7cbc3ac5920b1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b6c17e5393645213ccdd395c397acbe5e7f07b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/762/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/762/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/762/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2e58eea33cd655f23a1d4725db9598b06af0f67
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/textured_objs/original-9.obj
@@ -0,0 +1,362 @@
+# SSTK version 0.8.0
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+mtllib original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/762/tree_hier.html b/data/PartNet-Mobility/Chair/762/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..c98a8f968282bc07813f8f96205b0ebc1850b3f3
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+++ b/data/PartNet-Mobility/Chair/762/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_head Chair Head</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 chair_back Chair Back</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_arm Chair Arm</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_seat Chair Seat</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_base Chair Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>50 headrest Head Rest</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 head_connector Head Connector</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 back_surface Back Surface</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 back_support Back Support</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>48 back_connector Back Connector</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 back_connector Back Connector</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 arm_connector Arm Connector</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 arm_connector Arm Connector</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 seat_surface Seat Surface</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 seat_support Seat Support</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 star_leg_base Star-shape Leg Base</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td><p>47 back_hard_surface Back Hard Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 seat_hard_surface Seat Hard Surface</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>8 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 seat_connector Seat Connector</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster_stem Caster Stem</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_stem Caster Stem</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_stem Caster Stem</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_stem Caster Stem</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/762/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/762/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..5dbd540712e20726697a610f49f8df4f8027c3bc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/762/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_head chair_head</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 chair_back chair_back</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_arm chair_arm</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_seat chair_seat</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>22 chair_base chair_base</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 headrest headrest</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 head_connector head_connector</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_surface back_surface</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 back_support back_support</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 back_connector back_connector</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 back_connector back_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_connector arm_connector</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 arm_connector arm_connector</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 seat_surface seat_surface</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 seat_support seat_support</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 star_leg_base star_leg_base</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td><p>6 back_single_surface back_single_surface</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>24 central_support central_support</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 star_leg_set star_leg_set</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 caster caster</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>47 caster caster</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_stem caster_stem</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 caster_stem caster_stem</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 caster_stem caster_stem</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 wheel wheel</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 wheel wheel</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>48 caster_stem caster_stem</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 wheel wheel</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 wheel wheel</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Clock/5696/bounding_box.json b/data/PartNet-Mobility/Clock/5696/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bdad2bb6da7a36bb8c00be1da9e3f59acf455b3
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.934781, -0.991658, -0.058595], "max": [0.993789, 0.936912, 0.043845]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Clock/5696/images/texture_0.jpg b/data/PartNet-Mobility/Clock/5696/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..730a426b1a5c08f2a8c3f2cb814f724db355b09d
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0c0a478dee4cf5a402cb38c1188b8ce67a4c2c44299d66ca5ef35a85a8208a9
+size 2982
diff --git a/data/PartNet-Mobility/Clock/5696/images/texture_1.jpg b/data/PartNet-Mobility/Clock/5696/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/Clock/5696/meta.json b/data/PartNet-Mobility/Clock/5696/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5a35d6e6e8dab4fbebd866e348dc2ab3af598f
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/meta.json
@@ -0,0 +1 @@
+{"model_id": "171a6752b9a2dd95651adbce8f1811d5", "anno_id": "5696", "user_id": "zhouwenxian", "time_in_sec": "118", "version": "2", "model_cat": "Clock"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Clock/5696/mobility.urdf b/data/PartNet-Mobility/Clock/5696/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6b885711e7ec368402755e6476aee7aad0c5415d
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/mobility.urdf
@@ -0,0 +1,615 @@
+<?xml version="1.0" ?>
+<robot name="partnet_171a6752b9a2dd95651adbce8f1811d5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="hand-4">
+			<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.02950384814616 -0.027373151853839987 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_1">
+		<visual name="hand-5">
+			<origin xyz="-0.02950384814616 0.027373151853839987 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
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diff --git a/data/PartNet-Mobility/Clock/5696/parts_render/0.txt b/data/PartNet-Mobility/Clock/5696/parts_render/0.txt
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/ply-10000.ply b/data/PartNet-Mobility/Clock/5696/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..a1eaabc61704d55391bf4af70221dfe23536eb36
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/pts-10000.pts b/data/PartNet-Mobility/Clock/5696/point_sample/pts-10000.pts
new file mode 100644
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/pts-10000.txt b/data/PartNet-Mobility/Clock/5696/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b81d4a89d10f02affdbfc123bc5175ceeca3fbc3
--- /dev/null
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..79e32f3a8949b6e2e8ce4f961c540b85b7c2de1a
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79a884c5892b4033b563f140850af4d755456969
--- /dev/null
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
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diff --git a/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..17007772ef8ea1715177032cddaee1c87ae136b0
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Clock/5696/result.json b/data/PartNet-Mobility/Clock/5696/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bbbadb66a571b6a441c2f197688fb84e6771f67
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/result.json
@@ -0,0 +1 @@
+[{"text": "Clock", "children": [{"text": "Normal Clock", "children": [{"text": "Clock Body", "children": [{"text": "Frame", "objs": ["original-3", "original-47", "original-35", "original-36", "original-37", "original-34", "original-2", "original-33", "original-32", "original-31", "original-38", "original-39", "original-40", "original-9", "original-11", "original-55", "original-56", "original-46", "original-48", "original-30", "original-28", "original-29", "original-27", "original-24", "original-25", "original-26", "original-23", "original-22", "original-21", "original-43", "original-44", "original-42", "original-50", "original-52", "original-51", "original-54", "original-10", "original-12", "original-13", "original-14", "original-15", "original-16", "original-18", "original-17", "original-20", "original-19"], "id": 3, "name": "frame"}, {"text": "Hand", "objs": ["original-7"], "id": 4, "name": "hand"}, {"text": "Hand", "objs": ["original-6"], "id": 5, "name": "hand"}, {"text": "Surface", "objs": ["original-4"], "id": 6, "name": "surface"}], "id": 2, "name": "clock_body"}], "id": 1, "name": "normal_clock"}], "id": 0, "name": "clock"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Clock/5696/result_after_merging.json b/data/PartNet-Mobility/Clock/5696/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..894381ef2ab644fdd77a87f40c54dc119fabc5c0
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"name": "frame", "text": "frame", "id": 3, "ori_id": 3, "objs": ["original-3", "original-47", "original-35", "original-36", "original-37", "original-34", "original-2", "original-33", "original-32", "original-31", "original-38", "original-39", "original-40", "original-9", "original-11", "original-55", "original-56", "original-46", "original-48", "original-30", "original-28", "original-29", "original-27", "original-24", "original-25", "original-26", "original-23", "original-22", "original-21", "original-43", "original-44", "original-42", "original-50", "original-52", "original-51", "original-54", "original-10", "original-12", "original-13", "original-14", "original-15", "original-16", "original-18", "original-17", "original-20", "original-19"]}, {"name": "surface", "text": "surface", "id": 4, "ori_id": 6, "objs": ["original-4"]}], "text": "clock_body", "id": 2, "name": "clock_body", "ori_id": 2, "objs": ["original-3", "original-47", "original-35", "original-36", "original-37", "original-34", "original-2", "original-33", "original-32", "original-31", "original-38", "original-39", "original-40", "original-9", "original-11", "original-55", "original-56", "original-46", "original-48", "original-30", "original-28", "original-29", "original-27", "original-24", "original-25", "original-26", "original-23", "original-22", "original-21", "original-43", "original-44", "original-42", "original-50", "original-52", "original-51", "original-54", "original-10", "original-12", "original-13", "original-14", "original-15", "original-16", "original-18", "original-17", "original-20", "original-19", "original-7", "original-6", "original-4"]}], "text": "table_clock", "id": 1, "name": "table_clock", "ori_id": 1, "objs": ["original-3", "original-47", "original-35", "original-36", "original-37", "original-34", "original-2", "original-33", "original-32", "original-31", "original-38", "original-39", "original-40", "original-9", "original-11", "original-55", "original-56", "original-46", "original-48", "original-30", "original-28", "original-29", "original-27", "original-24", "original-25", "original-26", "original-23", "original-22", "original-21", "original-43", "original-44", "original-42", "original-50", "original-52", "original-51", "original-54", "original-10", "original-12", "original-13", "original-14", "original-15", "original-16", "original-18", "original-17", "original-20", "original-19", "original-7", "original-6", "original-4"]}], "text": "clock", "id": 0, "name": "clock", "ori_id": 0, "objs": ["original-3", "original-47", "original-35", "original-36", "original-37", "original-34", "original-2", "original-33", "original-32", "original-31", "original-38", "original-39", "original-40", "original-9", "original-11", "original-55", "original-56", "original-46", "original-48", "original-30", "original-28", "original-29", "original-27", "original-24", "original-25", "original-26", "original-23", "original-22", "original-21", "original-43", "original-44", "original-42", "original-50", "original-52", "original-51", "original-54", "original-10", "original-12", "original-13", "original-14", "original-15", "original-16", "original-18", "original-17", "original-20", "original-19", "original-7", "original-6", "original-4"]}]
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diff --git a/data/PartNet-Mobility/Clock/5696/semantics.txt b/data/PartNet-Mobility/Clock/5696/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41ef95219d0eab14a512f1d43c7bce474b2c9185
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge hand
+link_1 hinge hand
+link_2 free clock_body
diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-10.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-10.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/Clock/5696/textured_objs/original-10.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7cf3ec87942ba85f42243f70b4ffb97b986c7f4
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d606417250b3f09761f53b002d2784835cd607
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-16.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-16.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/Clock/5696/textured_objs/original-16.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e1de3254dc79cd8c91aea8fde8b2c35517b8f7d
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-2.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..b217803f6da045c1035cf2a1a12b129051e086e9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-22.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-22.mtl
@@ -0,0 +1,8 @@
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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/Clock/5696/textured_objs/original-22.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a629a5e2afde8a7c65cc41e8776a6bdf61d14472
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.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
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8601b9db0df0c87a34c6f76bf877360edb64a4d
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-23.obj
@@ -0,0 +1,407 @@
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-24.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..98e23195b78017e7db908bef678d993736f1111c
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-27.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-27.obj
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index 0000000000000000000000000000000000000000..66113741b4663bdc4c553a880cf614a353d20575
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.mtl b/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f10fdbaf60274e3055355d6192a818a4552ea192
--- /dev/null
+++ b/data/PartNet-Mobility/Clock/5696/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-3.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Clock/5696/textured_objs/original-40.obj b/data/PartNet-Mobility/Clock/5696/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8570a477f39c67cd0ba18372211937ea968d2c2c
--- /dev/null
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