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diff --git a/data/PartNet-Mobility/Chair/42452/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42452/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8e36e68439b8a0ec74fb54c4e64f7c236866cee5
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..c2be2ab5498e10f3b819cf331d77c2e36ee8760e
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diff --git a/data/PartNet-Mobility/Chair/42452/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42452/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57a5301506a186756ac7882073655af7b66790d6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba59a7bffdd714efdfb177667030529ffae625f8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..af7d4860984aa57c17955b50321842c3a46eb81e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33c13a593a23dd115263f6614d0d10e6c066178c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42452/result.json b/data/PartNet-Mobility/Chair/42452/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..57556fa6c4b3c2f31dbeb7fd32f352d50370df6e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-35"], "id": 59, "name": "back_soft_surface"}], "id": 49, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-9"], "id": 55, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-11"], "id": 56, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Horizontal Bar", "objs": ["new-10"], "id": 57, "name": "back_frame_horizontal_bar"}, {"text": "Back Frame Horizontal Bar", "objs": ["new-8"], "id": 58, "name": "back_frame_horizontal_bar"}], "id": 50, "name": "back_frame"}, {"text": "Back Connector", "objs": ["new-6"], "id": 51, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-7"], "id": 52, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-24"], "id": 43, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-23"], "id": 44, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["original-21"], "id": 45, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-32"], "id": 40, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-31"], "id": 41, "name": "arm_vertical_bar"}, {"text": "Arm Connector", "objs": ["original-29"], "id": 42, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-19"], "id": 89, "name": "seat_soft_surface"}], "id": 84, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-18", "original-37", "original-26"], "id": 85, "name": "seat_support"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Vertical Bar", "objs": ["original-27"], "id": 87, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["original-38"], "id": 88, "name": "seat_frame_vertical_bar"}], "id": 86, "name": "seat_frame"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-12"], "id": 60, "name": "central_support"}, {"text": "Central Support", "objs": ["new-14"], "id": 61, "name": "central_support"}, {"text": "Central Support", "objs": ["new-13"], "id": 62, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-0"], "id": 64, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 65, "name": "leg"}, {"text": "Leg", "objs": ["new-2"], "id": 66, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 67, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 68, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-13"], "id": 82, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-12"], "id": 83, "name": "wheel"}], "id": 69, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-16"], "id": 80, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-15"], "id": 81, "name": "wheel"}], "id": 70, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-10"], "id": 78, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-9"], "id": 79, "name": "wheel"}], "id": 71, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-7"], "id": 76, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-6"], "id": 77, "name": "wheel"}], "id": 72, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-4"], "id": 74, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-3"], "id": 75, "name": "wheel"}], "id": 73, "name": "caster"}], "id": 63, "name": "star_leg_set"}], "id": 7, "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/42452/result_after_merging.json b/data/PartNet-Mobility/Chair/42452/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f29aab0e93f67264f77b0adcc731643ab3e625
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "chair", "children": [{"text": "chair_back", "children": [{"text": "back_surface", "children": [{"objs": ["original-35"], "name": "back_single_surface", "ori_id": 59, "text": "back_single_surface", "id": 3}], "id": 2, "name": "back_surface", "objs": ["original-35"], "ori_id": 49}, {"text": "back_frame", "children": [{"objs": ["new-9"], "name": "back_frame_vertical_bar", "ori_id": 55, "text": "back_frame_vertical_bar", "id": 5}, {"objs": ["new-11"], "name": "back_frame_vertical_bar", "ori_id": 56, "text": "back_frame_vertical_bar", "id": 6}, {"objs": ["new-10"], "name": "back_frame_horizontal_bar", "ori_id": 57, "text": "back_frame_horizontal_bar", "id": 7}, {"objs": ["new-8"], "name": "back_frame_horizontal_bar", "ori_id": 58, "text": "back_frame_horizontal_bar", "id": 8}], "id": 4, "name": "back_frame", "objs": ["new-9", "new-11", "new-10", "new-8"], "ori_id": 50}, {"objs": ["new-6"], "name": "back_connector", "ori_id": 51, "text": "back_connector", "id": 9}, {"objs": ["new-7"], "name": "back_connector", "ori_id": 52, "text": "back_connector", "id": 10}], "id": 1, "name": "chair_back", "objs": ["original-35", "new-9", "new-11", "new-10", "new-8", "new-6", "new-7"], "ori_id": 1}, {"text": "chair_arm", "children": [{"objs": ["original-24"], "name": "arm_horizontal_bar", "ori_id": 43, "text": "arm_horizontal_bar", "id": 12}, {"objs": ["original-23"], "name": "arm_near_vertical_bar", "ori_id": 44, "text": "arm_near_vertical_bar", "id": 13}, {"objs": ["original-21"], "name": "arm_connector", "ori_id": 45, "text": "arm_connector", "id": 14}], "id": 11, "name": "chair_arm", "objs": ["original-24", "original-23", "original-21"], "ori_id": 2}, {"text": "chair_arm", "children": [{"objs": ["original-32"], "name": "arm_horizontal_bar", "ori_id": 40, "text": "arm_horizontal_bar", "id": 16}, {"objs": ["original-31"], "name": "arm_near_vertical_bar", "ori_id": 41, "text": "arm_near_vertical_bar", "id": 17}, {"objs": ["original-29"], "name": "arm_connector", "ori_id": 42, "text": "arm_connector", "id": 18}], "id": 15, "name": "chair_arm", "objs": ["original-32", "original-31", "original-29"], "ori_id": 3}, {"text": "chair_seat", "children": [{"text": "seat_surface", "children": [{"objs": ["original-19"], "name": "seat_single_surface", "ori_id": 89, "text": "seat_single_surface", "id": 21}], "id": 20, "name": "seat_surface", "objs": ["original-19"], "ori_id": 84}, {"objs": ["original-18", "original-37", "original-26"], "name": "seat_support", "ori_id": 85, "text": "seat_support", "id": 22}, {"text": "seat_frame", "children": [{"objs": ["original-27"], "name": "seat_frame_bar", "ori_id": 87, "text": "seat_frame_bar", "id": 24}, {"objs": ["original-38"], "name": "seat_frame_bar", "ori_id": 88, "text": "seat_frame_bar", "id": 25}], "id": 23, "name": "seat_frame", "objs": ["original-27", "original-38"], "ori_id": 86}], "id": 19, "name": "chair_seat", "objs": ["original-19", "original-18", "original-37", "original-26", "original-27", "original-38"], "ori_id": 4}, {"text": "chair_base", "children": [{"text": "star_leg_base", "children": [{"objs": ["new-12"], "name": "central_support", "ori_id": 60, "text": "central_support", "id": 28}, {"objs": ["new-14"], "name": "central_support", "ori_id": 61, "text": "central_support", "id": 29}, {"objs": ["new-13"], "name": "central_support", "ori_id": 62, "text": "central_support", "id": 30}, {"text": "star_leg_set", "children": [{"objs": ["new-0"], "name": "leg", "ori_id": 64, "text": "leg", "id": 32}, {"objs": ["new-1"], "name": "leg", "ori_id": 65, "text": "leg", "id": 33}, {"objs": ["new-2"], "name": "leg", "ori_id": 66, "text": "leg", "id": 34}, {"objs": ["new-3"], "name": "leg", "ori_id": 67, "text": "leg", "id": 35}, {"objs": ["new-4"], "name": "leg", "ori_id": 68, "text": "leg", "id": 36}, {"text": "caster", "children": [{"objs": ["original-13"], "name": "caster_stem", "ori_id": 82, "text": "caster_stem", "id": 38}, {"objs": ["original-12"], "name": "wheel", "ori_id": 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72}, {"text": "caster", "children": [{"objs": ["original-4"], "name": "caster_stem", "ori_id": 74, "text": "caster_stem", "id": 50}, {"objs": ["original-3"], "name": "wheel", "ori_id": 75, "text": "wheel", "id": 51}], "id": 49, "name": "caster", "objs": ["original-4", "original-3"], "ori_id": 73}], "id": 31, "name": "star_leg_set", "objs": ["new-0", "new-1", "new-2", "new-3", "new-4", "original-13", "original-12", "original-16", "original-15", "original-10", "original-9", "original-7", "original-6", "original-4", "original-3"], "ori_id": 63}], "id": 27, "name": "star_leg_base", "objs": ["new-12", "new-14", "new-13", "new-0", "new-1", "new-2", "new-3", "new-4", "original-13", "original-12", "original-16", "original-15", "original-10", "original-9", "original-7", "original-6", "original-4", "original-3"], "ori_id": 7}], "id": 26, "name": "chair_base", "objs": ["new-12", "new-14", "new-13", "new-0", "new-1", "new-2", "new-3", "new-4", "original-13", "original-12", "original-16", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42452/semantics.txt b/data/PartNet-Mobility/Chair/42452/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..25198e5cf5c93bfe972e0683d5df09bff54a3541
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 slider+ seat
+link_11 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0c8f15df344279d3601a4cba1e1126440c7670c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-0.obj
@@ -0,0 +1,682 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba2b1ffcc882f9e0bd2c7b7be0bd206d677110fa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-12.obj
@@ -0,0 +1,219 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-13.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e9266ae9f86cd9326a8c7efa20f95385eeba5b0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a1f8be4695131caa4382cf99ba67f4835b17789
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-3.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8948635b978c249f8833b4f6d22b41d2ca9daefc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-6.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cae53474ba14feb409eb4904b5c3493ad3357dfb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91680eee52d43026802728362c62ec0f0da3ddff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13054689a644c639fd7747ac459a8c601c670854
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/new-8.obj
@@ -0,0 +1,430 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/new-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..171f965dec5aa00d6cdae128818e384502e95ea0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71dabf18d1a4a26c0dce476345fb54f935b812b9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e9f9fbef6e68f78a6368c2290c17b95a3b9cbfb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd47986675165c31407b3621ddd264ec3876b605
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-12.obj
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+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a75777014b0d69181b6b13a704a8cabca450dcd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7deee719a431da08f31ab6cdf55c233f72f8166a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7cb056e7166b0b57b3460a6cab9672493a7a91c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-18.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-18.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..858df82a8f97c93c975590d961aae5dc830afb8e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-19.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16fe74feceee6c26f68f279cd607fe2d379f67bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.6274509803921569 0.6274509803921569 0.6274509803921569 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f55fecf8abc3adddcbf425f0368e6a345d5ce2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-21.obj
@@ -0,0 +1,352 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o Group11/mesh31/mesh31-geometry#mesh31-geometry
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c85d83c9e9c05d559174c6752d78699e30de3
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..a868c3b52885a21f0d7b83147f48674fcfb0d556
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c85d83c9e9c05d559174c6752d78699e30de3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.24705882352941178 0.24705882352941178 0.24705882352941178 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511d4df809c56590f046f9b58145cd6c5ce0ee60
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d682491fe91f7a7a2bdc82d9fbf50aae91321616
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-26.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ad92d780cdc5b0808b30ea1e5bb330c66398b10
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-27.obj
@@ -0,0 +1,159 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16fe74feceee6c26f68f279cd607fe2d379f67bf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44620358353787b8276ac7d6f21f6b05cd224c55
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-29.obj
@@ -0,0 +1,352 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..e005fa98ef4c2bd38de6ae87fe1767eec2192921
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c85d83c9e9c05d559174c6752d78699e30de3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f10777b6b94e54291d8390549f81644b810f20c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..655c85d83c9e9c05d559174c6752d78699e30de3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00e5c8b90d3a354328821ff6e8aef02ae7f37569
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4551717db231388cbb35052e57b081d844af21b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-35.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/42452/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23eb12169ca9e2eb36ee839d96a2ba2de21783e3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a297c9e3778e7d4bcc325f4eee8014a4ca1f3b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-37.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0e424e5848b08e1078128df9b108520d04942a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-38.obj
@@ -0,0 +1,159 @@
+# SSTK version 0.8.0
+# 38
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1018a8ffe0f6725bcadd46b77ddb904d6f582a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-4.obj
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+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3194e9158bf29e769b43690d1d8443ca3255009
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-6.obj
@@ -0,0 +1,264 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d7c4ac25d4a3e4fc1d0fd623b87b0ec5de053d62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e06a72d2dc220e1aad2dcdcd9fb08be292599088
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71dabf18d1a4a26c0dce476345fb54f935b812b9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc2a4ca6d3240f38d20f1314c86b6ea19f3ef2cf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/textured_objs/original-9.obj
@@ -0,0 +1,264 @@
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diff --git a/data/PartNet-Mobility/Chair/42452/tree_hier.html b/data/PartNet-Mobility/Chair/42452/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6fa4d3787e0558662e7b4fb2422e2d34660b81ad
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>49 back_surface Back Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 back_frame Back Frame</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>51 back_connector Back Connector</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 back_connector Back Connector</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>43 armrest_soft_surface Armrest Soft Surface</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_vertical_bar Arm Vertical Bar</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 arm_connector Arm Connector</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>40 armrest_soft_surface Armrest 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 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 arm_connector Arm Connector</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>84 seat_surface Seat Surface</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>85 seat_support Seat Support</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 seat_frame Seat Frame</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></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><p>59 back_soft_surface Back Soft Surface</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>55 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>89 seat_soft_surface Seat Soft Surface</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>87 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>60 central_support Central Support</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 central_support Central Support</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 central_support Central Support</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 star_leg_set Star-shape Leg Set</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>64 leg Leg</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 leg Leg</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 leg Leg</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 leg Leg</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 leg Leg</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 caster Wheel Assembly</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>70 caster Wheel Assembly</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>71 caster Wheel Assembly</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>72 caster Wheel Assembly</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>73 caster Wheel Assembly</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>82 caster_stem Caster Stem</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 wheel Wheel</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>80 caster_stem Caster Stem</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 wheel Wheel</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>78 caster_stem Caster Stem</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 wheel Wheel</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>76 caster_stem Caster Stem</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 wheel Wheel</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>74 caster_stem Caster Stem</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 wheel Wheel</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42452/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42452/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..1d1546b17a387ecc56793c3ab73cae63660b5c62
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42452/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 chair_arm chair_arm</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_arm chair_arm</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 chair_seat chair_seat</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 chair_base chair_base</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_frame back_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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><p>10 back_connector back_connector</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 arm_connector arm_connector</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 arm_horizontal_bar arm_horizontal_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_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 arm_connector arm_connector</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 seat_surface seat_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><p>22 seat_support seat_support</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 seat_frame seat_frame</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></td><td><p>27 star_leg_base star_leg_base</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 back_frame_horizontal_bar back_frame_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 back_frame_horizontal_bar back_frame_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>24 seat_frame_bar seat_frame_bar</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 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>28 central_support central_support</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 central_support central_support</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 central_support central_support</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 star_leg_set star_leg_set</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 leg leg</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 leg leg</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 leg leg</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 leg leg</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 leg leg</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 caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>40 caster caster</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td></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><p>46 caster caster</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></td><td></td><td><p>49 caster caster</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 caster_stem caster_stem</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></td><td><p>47 caster_stem caster_stem</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 caster_stem caster_stem</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 wheel wheel</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/bounding_box.json b/data/PartNet-Mobility/Chair/42556/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e5e78bd71a0969923e742be2faf09fab408c91
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.592452, -0.830971, -0.542297], "max": [0.606465, 0.860313, 0.657338]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/meta.json b/data/PartNet-Mobility/Chair/42556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53ff0163e9748e63bebe191f3b0ffe0b382cefc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/meta.json
@@ -0,0 +1 @@
+{"model_id": "c2220851bf50eda931ecc34700496180", "anno_id": "42556", "user_id": "yz_zhangcong", "time_in_sec": "290", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/mobility.urdf b/data/PartNet-Mobility/Chair/42556/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..169e2e64f4aa88a22d4423248d3d9b2d4e40ed36
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/mobility.urdf
@@ -0,0 +1,355 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c2220851bf50eda931ecc34700496180">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-24">
+			<origin xyz="-0.5566435548484837 0.7812046901411421 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5566435548484837 0.7812046901411421 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.006785945151516315 -0.7812046901411421 -0.0630275"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="brake-25">
+			<origin xyz="-0.5634295 0 -0.0630275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5634295 0 -0.0630275"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.5634295 0 0.0630275"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-22">
+			<origin xyz="0.0015374451515163413 0.7812046901411421 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0015374451515163413 0.7812046901411421 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.006785945151516341 -0.7812046901411421 0.504838"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_3">
+		<visual name="brake-23">
+			<origin xyz="-0.0052485 0 0.504838"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0052485 0 0.504838"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.0052485 0 -0.504838"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-20">
+			<origin xyz="-9.550437571778905e-06 0.7812053857166755 -0.06679501521683152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-9.550437571778905e-06 0.7812053857166755 -0.06679501521683152"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.5583032057838805 -0.7812053857166755 0.0067003867958505756"/>
+		<axis xyz="0.999999988222822 -8.969524975814682e-07 -0.0001534716636639214"/>
+		<child link="link_4"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_5">
+		<visual name="brake-21">
+			<origin xyz="0.5582936553463087 0 -0.06009462842098095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5582936553463087 0 -0.06009462842098095"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.5582936553463087 0 0.06009462842098095"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-18">
+			<origin xyz="-0.021645792247604722 0.7812038141193224 -0.000340501930849679"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.021645792247604722 0.7812038141193224 -0.000340501930849679"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.01661785328998116 -0.7812038141193224 -0.6231495696056649"/>
+		<axis xyz="-0.01577394832546562 -1.254568322872312e-06 0.9998755835365978"/>
+		<child link="link_6"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_7">
+		<visual name="brake-19">
+			<origin xyz="-0.005027938957623561 0 -0.6234900715365146"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005027938957623561 0 -0.6234900715365146"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.005027938957623561 0 0.6234900715365146"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_7"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_8">
+		<visual name="seat_soft_surface-31">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_holistic_frame-34">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-33">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-33">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-5">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-8">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="headrest-36">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head_connector-37">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head_connector-38">
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005899999999999999 0 -0.05935599999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_8_helper"/>
+	</joint>
+	<link name="link_9">
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-28">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_9"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_8_helper"/>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.005899999999999999 0 0.05935599999999999"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_8_helper"/>
+		<parent link="link_9"/>
+		<limit lower="0" upper="0.15"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42556/mobility_v2.json b/data/PartNet-Mobility/Chair/42556/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f095bb12065aef8eab9ee36c106d0d43270b47fc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel"}],"jointData":{"axis":{"origin":[0.5566435548484837,-0.7812046901411421,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":9,"joint":"hinge","name":"brake","parts":[{"id":25,"name":"brake"}],"jointData":{"axis":{"origin":[0.5634295,0,0.0630275],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.0015374451515163413,-0.7812046901411421,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":9,"joint":"hinge","name":"brake","parts":[{"id":23,"name":"brake"}],"jointData":{"axis":{"origin":[0.0052485,0,-0.504838],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":20,"name":"wheel"}],"jointData":{"axis":{"origin":[0.000009550437571778905,-0.7812053857166755,0.06679501521683152],"direction":[0.999999988222822,-8.969524975814682e-7,-0.0001534716636639214]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":9,"joint":"hinge","name":"brake","parts":[{"id":21,"name":"brake"}],"jointData":{"axis":{"origin":[-0.5582936553463087,0,0.06009462842098095],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":18,"name":"wheel"}],"jointData":{"axis":{"origin":[0.021645792247604722,-0.7812038141193224,0.000340501930849679],"direction":[-0.01577394832546562,-0.000001254568322872312,0.9998755835365978]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":9,"joint":"hinge","name":"brake","parts":[{"id":19,"name":"brake"}],"jointData":{"axis":{"origin":[0.005027938957623561,0,0.6234900715365146],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":9,"joint":"slider","name":"seat_soft_surface","parts":[{"id":31,"name":"seat_soft_surface"},{"id":34,"name":"back_holistic_frame"},{"id":33,"name":"back_connector"},{"id":5,"name":"central_support"},{"id":8,"name":"seat_connector"},{"id":36,"name":"headrest"},{"id":37,"name":"head_connector"},{"id":38,"name":"head_connector"}],"jointData":{"axis":{"origin":[0.005899999999999999,0,0.05935599999999999],"direction":[0,1,0]},"limit":{"a":0,"b":-0.15,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":9,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":6,"name":"central_support"},{"id":26,"name":"leg"},{"id":27,"name":"leg"},{"id":28,"name":"leg"},{"id":29,"name":"leg"}],"jointData":{}}]
\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/42556/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22549
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\ No newline at end of file
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\ No newline at end of file
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+++ b/data/PartNet-Mobility/Chair/42556/parts_render/14.txt
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+14 caster Wheel Assembly
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ 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/42556/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42556/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..bc51c68823836e409457a07f9fbfd9921e1f6e38
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/42556/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..7aa4c8145c3b4b15eeccd77c8fe9e8849a670338
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42556/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2d1209502d59d6afe43fb8413488995e857200ac
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6cacd2fd0295070f505b43c4e5a5bd8a6ff3bcdb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f5be4085f219f35e73ea4fa60057e90c06e52814
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..61b35259ec80b8b339d8f68965ba4717061a0a98
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diff --git a/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4abf48f4cef3e8bdc133de8a26230705888f6f8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42556/result.json b/data/PartNet-Mobility/Chair/42556/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..27e9d152ce41abc127cfdcaefa99f0d6285366ff
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Frame", "children": [{"text": "Back Holistic Frame", "objs": ["new-2"], "id": 34, "name": "back_holistic_frame"}], "id": 32, "name": "back_frame"}, {"text": "Back Connector", "objs": ["original-23", "original-24"], "id": 33, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-25"], "id": 31, "name": "seat_soft_surface"}], "id": 30, "name": "seat_surface"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-0"], "id": 5, "name": "central_support"}, {"text": "Central Support", "objs": ["new-1"], "id": 6, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-16"], "id": 24, "name": "wheel"}, {"text": "Brake", "objs": ["original-15"], "id": 25, "name": "brake"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-13"], "id": 22, "name": "wheel"}, {"text": "Brake", "objs": ["original-12"], "id": 23, "name": "brake"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-19"], "id": 20, "name": "wheel"}, {"text": "Brake", "objs": ["original-18"], "id": 21, "name": "brake"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-7"], "id": 18, "name": "wheel"}, {"text": "Brake", "objs": ["original-6"], "id": 19, "name": "brake"}], "id": 17, "name": "caster"}, {"text": "Leg", "objs": ["original-9"], "id": 26, "name": "leg"}, {"text": "Leg", "objs": ["original-22"], "id": 27, "name": "leg"}, {"text": "Leg", "objs": ["original-10"], "id": 28, "name": "leg"}, {"text": "Leg", "objs": ["original-21"], "id": 29, "name": "leg"}], "id": 7, "name": "star_leg_set"}, {"text": "Seat Connector", "objs": ["original-4"], "id": 8, "name": "seat_connector"}], "id": 4, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}, {"text": "Chair Head", "children": [{"text": "Head Rest", "objs": ["new-5"], "id": 36, "name": "headrest"}, {"text": "Head Connector", "objs": ["new-3"], "id": 37, "name": "head_connector"}, {"text": "Head Connector", "objs": ["new-4"], "id": 38, "name": "head_connector"}], "id": 35, "name": "chair_head"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/result_after_merging.json b/data/PartNet-Mobility/Chair/42556/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c5e11925177fa39936bcc018348b01c3d63ffd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"text": "back_holistic_frame", "id": 3, "objs": ["new-2"], "ori_id": 34, "name": "back_holistic_frame"}], "name": "back_frame", "text": "back_frame", "id": 2, "objs": ["new-2"], "ori_id": 32}, {"text": "back_connector", "id": 4, "objs": ["original-23", "original-24"], "ori_id": 33, "name": "back_connector"}], "name": "chair_back", "text": "chair_back", "id": 1, "objs": ["new-2", "original-23", "original-24"], "ori_id": 1}, {"children": [{"children": [{"text": "seat_single_surface", "id": 7, "objs": ["original-25"], "ori_id": 31, "name": "seat_single_surface"}], "name": "seat_surface", "text": "seat_surface", "id": 6, "objs": ["original-25"], "ori_id": 30}], "name": "chair_seat", "text": "chair_seat", "id": 5, "objs": ["original-25"], "ori_id": 2}, {"children": [{"children": [{"text": "central_support", "id": 10, "objs": ["new-0"], "ori_id": 5, "name": "central_support"}, {"text": "central_support", "id": 11, "objs": ["new-1"], "ori_id": 6, "name": "central_support"}, {"children": [{"children": [{"text": "wheel", "id": 14, "objs": ["original-16"], "ori_id": 24, "name": "wheel"}], "name": "caster", "text": "caster", "id": 13, "objs": ["original-16", "original-15"], "ori_id": 14}, {"children": [{"text": "wheel", "id": 16, "objs": ["original-13"], "ori_id": 22, "name": "wheel"}], "name": "caster", "text": "caster", "id": 15, "objs": ["original-13", "original-12"], "ori_id": 15}, {"children": [{"text": "wheel", "id": 18, "objs": ["original-19"], "ori_id": 20, "name": "wheel"}], "name": "caster", "text": "caster", "id": 17, "objs": ["original-19", "original-18"], "ori_id": 16}, {"children": [{"text": "wheel", "id": 20, "objs": ["original-7"], "ori_id": 18, "name": "wheel"}], "name": "caster", "text": "caster", "id": 19, "objs": ["original-7", "original-6"], "ori_id": 17}, {"text": "leg", "id": 21, "objs": ["original-9"], "ori_id": 26, "name": "leg"}, {"text": "leg", "id": 22, "objs": ["original-22"], "ori_id": 27, "name": "leg"}, {"text": "leg", "id": 23, "objs": ["original-10"], "ori_id": 28, "name": "leg"}, {"text": "leg", "id": 24, "objs": ["original-21"], "ori_id": 29, "name": "leg"}], "name": "star_leg_set", "text": "star_leg_set", "id": 12, "objs": ["original-16", "original-15", "original-13", "original-12", "original-19", "original-18", "original-7", "original-6", "original-9", "original-22", "original-10", "original-21"], "ori_id": 7}], "name": "star_leg_base", "text": "star_leg_base", "id": 9, "objs": ["new-0", "new-1", "original-16", "original-15", "original-13", "original-12", "original-19", "original-18", "original-7", "original-6", "original-9", "original-22", "original-10", "original-21", "original-4"], "ori_id": 4}], "name": "chair_base", "text": "chair_base", "id": 8, "objs": ["new-0", "new-1", "original-16", "original-15", "original-13", "original-12", "original-19", "original-18", "original-7", "original-6", "original-9", "original-22", "original-10", "original-21", "original-4"], "ori_id": 3}, {"children": [{"text": "headrest", "id": 26, "objs": ["new-5"], "ori_id": 36, "name": "headrest"}, {"text": "head_connector", "id": 27, "objs": ["new-3"], "ori_id": 37, "name": "head_connector"}, {"text": "head_connector", "id": 28, "objs": ["new-4"], "ori_id": 38, "name": "head_connector"}], "name": "chair_head", "text": "chair_head", "id": 25, "objs": ["new-5", "new-3", "new-4"], "ori_id": 35}], "name": "chair", "text": "chair", "id": 0, "objs": ["new-2", "original-23", "original-24", "original-25", "new-0", "new-1", "original-16", "original-15", "original-13", "original-12", "original-19", "original-18", "original-7", "original-6", "original-9", "original-22", "original-10", "original-21", "original-4", "new-5", "new-3", "new-4"], "ori_id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/semantics.txt b/data/PartNet-Mobility/Chair/42556/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..324ef09357d0c66d453110b9abd73612bc9dedcb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/semantics.txt
@@ -0,0 +1,10 @@
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+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge caster
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+link_5 hinge caster
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+link_7 hinge caster
+link_8 slider+ seat
+link_9 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21aad0bb35a85bf52e68b80c0c0294fcd487d99a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/new-0.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a222b83fe5f5e929477563cb5c2604fbb4dbcf4a
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec4c0a45535aa2565bc41d466c528fb66c1a5300
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/new-2.mtl
@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8195c349cc0da83eb92c8299c5162530c2dd59fc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec4c0a45535aa2565bc41d466c528fb66c1a5300
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5edad9a5f9bda20897cb3c9890bbaaf7e845a236
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..107eb3b1c82a3073fa4696dc36027244307023ba
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-10.obj
@@ -0,0 +1,930 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93e453a1007f2dc73979c7f2d5e8cfbd6c5bbc6f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a58dbd1ff0e7fe97a97667558e9765b5f426e6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb13605f4a3f0d45137bdbf8d5736f509faab94e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5caa78a7d3fe20c1f4d99404c2a628874e305d1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-15.obj
@@ -0,0 +1,483 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a58dbd1ff0e7fe97a97667558e9765b5f426e6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2c350b8cef5fdc1e9ee672332939ee4183154fe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38b1295b02b04d81086bcc17f9e8cf06082c6553
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a58dbd1ff0e7fe97a97667558e9765b5f426e6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..539908d979238f855d9f5efd79552061482f31f7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff49d82ee7f9fe4f317807c6631aa547385ab624
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-21.obj
@@ -0,0 +1,926 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8730422593755616c965ecd082987b18d797ab27
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-22.obj
@@ -0,0 +1,930 @@
+# SSTK version 0.8.0
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+mtllib original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b8335edbda4fe213a5bf53699f9dc2e63c416c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-23.obj
@@ -0,0 +1,483 @@
+# SSTK version 0.8.0
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+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c42b03a337995475c81d845cd7600953d79b68a9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6111473a7f23cf7159050b05c7e439f8fc17d725
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e717532ff17f49147802b3708e6c10a342299f66
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..832ff0531da9d57895aca547bf649a573a2752f0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-4.obj
@@ -0,0 +1,83 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e071f36b9e69a3c252043b1f913ab4cd591212bb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a58dbd1ff0e7fe97a97667558e9765b5f426e6c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5a67be34f279eff89a3f6917a52a6c4ba0d985a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01c0f986704aa2f5bb1933551c7925720661357b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/textured_objs/original-9.obj
@@ -0,0 +1,926 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42556/tree_hier.html b/data/PartNet-Mobility/Chair/42556/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..90a431c8c1977d99efaf2e2c815f3fc7d1632aef
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+++ b/data/PartNet-Mobility/Chair/42556/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_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><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 chair_head Chair Head</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td></tr><tr><td><p>32 back_frame Back Frame</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>33 back_connector Back Connector</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 seat_surface Seat Surface</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 star_leg_base Star-shape Leg Base</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>36 headrest Head Rest</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 head_connector Head Connector</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 head_connector Head Connector</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td></tr><tr><td><p>34 back_holistic_frame Back Holistic Frame</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>31 seat_soft_surface Seat Soft Surface</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 central_support Central Support</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></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 star_leg_set Star-shape Leg Set</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>8 seat_connector Seat Connector</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><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><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>26 leg Leg</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg Leg</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg Leg</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg Leg</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 brake Brake</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 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 brake Brake</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 wheel Wheel</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 brake Brake</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 wheel Wheel</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 brake Brake</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42556/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42556/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..371ac32d65a45b3ed6f7bd66c7b05cf54936cfdf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42556/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_seat chair_seat</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 chair_base chair_base</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 chair_head chair_head</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><p>2 back_frame back_frame</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 seat_surface seat_surface</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 star_leg_base star_leg_base</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 headrest headrest</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 head_connector head_connector</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 head_connector head_connector</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_holistic_frame back_holistic_frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>10 central_support central_support</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 central_support central_support</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 star_leg_set star_leg_set</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 caster caster</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 caster caster</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 caster caster</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 caster caster</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></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 wheel wheel</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 wheel wheel</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 wheel wheel</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 wheel wheel</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/bounding_box.json b/data/PartNet-Mobility/Chair/42647/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8fe77951c8e9f40d2861f66063e3225f24e2ca
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.4598, -0.825702, -0.335216], "max": [0.427977, 0.757731, 0.609878]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/meta.json b/data/PartNet-Mobility/Chair/42647/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba6a6d561f00c872897daa19f17df0fa2ddb258
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/meta.json
@@ -0,0 +1 @@
+{"model_id": "c585ee093bfd52af6512b7b24f3d84", "anno_id": "42647", "user_id": "shape08", "time_in_sec": "578", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/mobility.urdf b/data/PartNet-Mobility/Chair/42647/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c3aab7297d473a80d589285b419372f636c7c2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/mobility.urdf
@@ -0,0 +1,551 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c585ee093bfd52af6512b7b24f3d84">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="back_soft_surface-52">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-48">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-49">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-50">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-45">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-46">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-47">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-44">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-43">
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.006780267599197926 0 -0.14507559003217274"/>
+			<geometry>
+				<mesh filename="textured_objs/new-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-34">
+			<origin xyz="-0.06869526776407613 0.7951135 -0.046153178375490087"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-35">
+			<origin xyz="-0.06869526776407613 0.7951135 -0.046153178375490087"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.06869526776407613 0.7951135 -0.046153178375490087"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.06869526776407613 0.7951135 -0.046153178375490087"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.18072370386028414 -0.7951135 0.24051149172591252"/>
+		<axis xyz="-0.5576774829664514 0 0.8300577238916601"/>
+		<child link="link_2"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-31">
+			<origin xyz="-0.23039074196065204 0.7951133162205714 0.09733929736419206"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-32">
+			<origin xyz="-0.23039074196065204 0.7951133162205714 0.09733929736419206"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.23039074196065204 0.7951133162205714 0.09733929736419206"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.23039074196065204 0.7951133162205714 0.09733929736419206"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.176868638298347 -0.7951133162205714 -0.37781100135058515"/>
+		<axis xyz="-0.38918650889051865 0 -0.9211589772116484"/>
+		<child link="link_3"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-28">
+			<origin xyz="0.21900390703942033 0.7951132413035803 -0.09251670710698147"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-29">
+			<origin xyz="0.21900390703942033 0.7951132413035803 -0.09251670710698147"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.21900390703942033 0.7951132413035803 -0.09251670710698147"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.21900390703942033 0.7951132413035803 -0.09251670710698147"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.2204676593751237 -0.7951132413035803 -0.48106847967951605"/>
+		<axis xyz="-0.38914477713922546 0 -0.9211766076194416"/>
+		<child link="link_4"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-25">
+			<origin xyz="0.4581122435289773 0.7951132260788545 -0.19349890825113128"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-26">
+			<origin xyz="0.4581122435289773 0.7951132260788545 -0.19349890825113128"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4581122435289773 0.7951132260788545 -0.19349890825113128"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4581122435289773 0.7951132260788545 -0.19349890825113128"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.05339179280223466 -0.7951132260788545 -0.08558332208484906"/>
+		<axis xyz="0.3890978767254919 0 0.9211964189724764"/>
+		<child link="link_5"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-22">
+			<origin xyz="-0.02506132725169032 0.7951130764487118 0.1745754441617595"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-23">
+			<origin xyz="-0.02506132725169032 0.7951130764487118 0.1745754441617595"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02506132725169032 0.7951130764487118 0.1745754441617595"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.02506132725169032 0.7951130764487118 0.1745754441617595"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.27407661465628275 -0.7951130764487118 0.023297781770395626"/>
+		<axis xyz="0.9898524353543983 0 0.1420991070449313"/>
+		<child link="link_6"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-33">
+			<origin xyz="-0.24941897162436028 0 0.19435831335042245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-37">
+			<origin xyz="-0.24941897162436028 0 0.19435831335042245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.24941897162436028 0 0.19435831335042245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.24941897162436028 0 0.19435831335042245"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.24941897162436028 0 -0.19435831335042245"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_stem-36">
+			<origin xyz="0.24901528740459244 0 0.19787322593215512"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_yoke-21">
+			<origin xyz="0.24901528740459244 0 0.19787322593215512"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.24901528740459244 0 0.19787322593215512"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.24901528740459244 0 0.19787322593215512"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.24901528740459244 0 -0.19787322593215512"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke-30">
+			<origin xyz="-0.40725938025899905 0 -0.2804717039863931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-38">
+			<origin xyz="-0.40725938025899905 0 -0.2804717039863931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.40725938025899905 0 -0.2804717039863931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.40725938025899905 0 -0.2804717039863931"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.40725938025899905 0 0.2804717039863931"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-27">
+			<origin xyz="-0.001463752335703359 0 -0.5735851867864975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-39">
+			<origin xyz="-0.001463752335703359 0 -0.5735851867864975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001463752335703359 0 -0.5735851867864975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001463752335703359 0 -0.5735851867864975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.001463752335703359 0 0.5735851867864975"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-24">
+			<origin xyz="0.4047204507267426 0 -0.27908223033598034"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-40">
+			<origin xyz="0.4047204507267426 0 -0.27908223033598034"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4047204507267426 0 -0.27908223033598034"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.4047204507267426 0 -0.27908223033598034"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.4047204507267426 0 0.27908223033598034"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.006780267599197926 0 0.14507559003217274"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42647/mobility_v2.json b/data/PartNet-Mobility/Chair/42647/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3b3ba71eb703f680ad139951134d2163ea813a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"back_soft_surface","parts":[{"id":52,"name":"back_soft_surface","children":[]},{"id":48,"name":"armrest_hard_surface","children":[]},{"id":49,"name":"arm_vertical_bar","children":[]},{"id":50,"name":"arm_horizontal_bar","children":[]},{"id":45,"name":"armrest_hard_surface","children":[]},{"id":46,"name":"arm_vertical_bar","children":[]},{"id":47,"name":"arm_horizontal_bar","children":[]},{"id":44,"name":"seat_soft_surface","children":[]},{"id":43,"name":"seat_support","children":[]}],"jointData":{"axis":{"origin":[0.006780267599197926,0,0.14507559003217274],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":7,"name":"central_support","children":[]},{"id":8,"name":"central_support","children":[]},{"id":9,"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":{}},{"id":2,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]},{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.06869526776407613,-0.7951135,0.046153178375490087],"direction":[-0.5576774829664514,0,0.8300577238916601]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]},{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.23039074196065204,-0.7951133162205714,-0.09733929736419206],"direction":[-0.38918650889051865,0,-0.9211589772116484]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]},{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.21900390703942033,-0.7951132413035803,0.09251670710698147],"direction":[-0.38914477713922546,0,-0.9211766076194416]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]},{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.4581122435289773,-0.7951132260788545,0.19349890825113128],"direction":[0.3890978767254919,0,0.9211964189724764]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]},{"id":23,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.02506132725169032,-0.7951130764487118,-0.1745754441617595],"direction":[0.9898524353543983,0,0.1420991070449313]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":1,"joint":"hinge","name":"caster_yoke","parts":[{"id":33,"name":"caster_yoke","children":[]},{"id":37,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.24941897162436028,0,-0.19435831335042245],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":1,"joint":"hinge","name":"caster_stem","parts":[{"id":36,"name":"caster_stem","children":[]},{"id":21,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.24901528740459244,0,-0.19787322593215512],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":1,"joint":"hinge","name":"caster_yoke","parts":[{"id":30,"name":"caster_yoke","children":[]},{"id":38,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.40725938025899905,0,0.2804717039863931],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":1,"joint":"hinge","name":"caster_yoke","parts":[{"id":27,"name":"caster_yoke","children":[]},{"id":39,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.001463752335703359,0,0.5735851867864975],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":1,"joint":"hinge","name":"caster_yoke","parts":[{"id":24,"name":"caster_yoke","children":[]},{"id":40,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.4047204507267426,0,0.27908223033598034],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/0.png b/data/PartNet-Mobility/Chair/42647/parts_render/0.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:879e33cd4261bf7ed82fed0e4b3416af62a4810281d782c1c84b2a26a2e9e86e
+size 25574
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/0.txt b/data/PartNet-Mobility/Chair/42647/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f189a29b5afe78bc8488f7a211443c5bf04a8e1c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/1.png b/data/PartNet-Mobility/Chair/42647/parts_render/1.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f18adf1e1b2c2f0ead3a6971e590728a932bca423f68a6b912977ae952bea03
+size 22599
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/1.txt b/data/PartNet-Mobility/Chair/42647/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e90a4c94b69c4c422fd7722948da211a57a37ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/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/42647/parts_render/10.png b/data/PartNet-Mobility/Chair/42647/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..54c8986ed281c17a7d50549e00fb8a50f69ab540
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea6398d2623ffc1d647b9f3470a9d7ccd66db1cc37b92ddb5d2717d91cf4599f
+size 20397
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/10.txt b/data/PartNet-Mobility/Chair/42647/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4a61685441c3d46963125a6caaf6995ae27efa0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/10.txt
@@ -0,0 +1 @@
+10 star_leg_set Star-shape Leg Set
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/11.png b/data/PartNet-Mobility/Chair/42647/parts_render/11.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b7aa965a774ee0d30dff3a43e423f5de963456712f49a3711c7c838aff2b82
+size 19017
diff --git a/data/PartNet-Mobility/Chair/42647/parts_render/11.txt b/data/PartNet-Mobility/Chair/42647/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edeefe1a1757c0394ce2c4e537365862d8651ea1
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42647/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e749892a12b259529f21412c5d200313e79fcdc5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/42647/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..8c2d39ee2efa528179bdbc3e3f00d1475a0e5128
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42647/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05a084ebad231ee04bb2b5897baf4ed90824822f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f5f8710a1d1462ae0bd7cda0dde00ef3123ce079
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..61e6e70d39eb1d45bdacb651a93a262846cdf6b7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a11d7b4eb3591c3d0f3ab960afa38b99bffe2097
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42647/result.json b/data/PartNet-Mobility/Chair/42647/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ab2f80ecc2a15b1a2fe04ed3e41f9cb0d558ef
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-25"], "id": 52, "name": "back_soft_surface"}], "id": 51, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-24"], "id": 48, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-28"], "id": 49, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-29"], "id": 50, "name": "arm_horizontal_bar"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-10"], "id": 45, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-26"], "id": 46, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-27"], "id": 47, "name": "arm_horizontal_bar"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-24"], "id": 44, "name": "seat_soft_surface"}], "id": 42, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["new-23"], "id": 43, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-22"], "id": 7, "name": "central_support"}, {"text": "Central Support", "objs": ["new-21"], "id": 8, "name": "central_support"}, {"text": "Central Support", "objs": ["new-20"], "id": 9, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-25"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-30"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-31"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-29"], "id": 14, "name": "leg"}, {"text": "Leg", "objs": ["original-28"], "id": 15, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-20"], "id": 33, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-4"], "id": 34, "name": "wheel"}, {"text": "Wheel", "objs": ["new-5"], "id": 35, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-18"], "id": 36, "name": "caster_stem"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-2"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-7"], "id": 31, "name": "wheel"}, {"text": "Wheel", "objs": ["new-6"], "id": 32, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-22"], "id": 37, "name": "caster_stem"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-6"], "id": 27, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-9"], "id": 28, "name": "wheel"}, {"text": "Wheel", "objs": ["new-8"], "id": 29, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-4"], "id": 38, "name": "caster_stem"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-12"], "id": 24, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-1"], "id": 25, "name": "wheel"}, {"text": "Wheel", "objs": ["new-0"], "id": 26, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-8"], "id": 39, "name": "caster_stem"}], "id": 19, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-16"], "id": 21, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["new-2"], "id": 22, "name": "wheel"}, {"text": "Wheel", "objs": ["new-3"], "id": 23, "name": "wheel"}, {"text": "Caster Stem", "objs": ["original-14"], "id": 40, "name": "caster_stem"}], "id": 20, "name": "caster"}], "id": 10, "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/42647/result_after_merging.json b/data/PartNet-Mobility/Chair/42647/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ddccdb4c3f40db52a21235daa4f8ab7a36139d
--- /dev/null
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@@ -0,0 +1 @@
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{"children": [{"id": 22, "objs": ["original-25"], "ori_id": 11, "name": "leg", "text": "leg"}, {"id": 23, "objs": ["original-30"], "ori_id": 12, "name": "leg", "text": "leg"}, {"id": 24, "objs": ["original-31"], "ori_id": 13, "name": "leg", "text": "leg"}, {"id": 25, "objs": ["original-29"], "ori_id": 14, "name": "leg", "text": "leg"}, {"id": 26, "objs": ["original-28"], "ori_id": 15, "name": "leg", "text": "leg"}, {"children": [{"id": 28, "objs": ["new-4"], "ori_id": 34, "name": "wheel", "text": "wheel"}, {"id": 29, "objs": ["new-5"], "ori_id": 35, "name": "wheel", "text": "wheel"}, {"id": 30, "objs": ["original-18"], "ori_id": 36, "name": "caster_stem", "text": "caster_stem"}], "name": "caster", "ori_id": 16, "id": 27, "objs": ["original-20", "new-4", "new-5", "original-18"], "text": "caster"}, {"children": [{"id": 32, "objs": ["new-7"], "ori_id": 31, "name": "wheel", "text": "wheel"}, {"id": 33, "objs": ["new-6"], "ori_id": 32, "name": "wheel", "text": "wheel"}, {"id": 34, "objs": 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/semantics.txt b/data/PartNet-Mobility/Chair/42647/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf23948957ca7d3b03569d9819382dcd00e36626
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/semantics.txt
@@ -0,0 +1,12 @@
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+link_1 free chair_leg
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge caster
+link_9 hinge caster
+link_10 hinge caster
+link_11 hinge caster
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c09e4111e1dad5f376054320ff7fea0ef587fdbc
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-2.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7056adf93a5a0d5f5e6ff64914f2dbabaa6037a9
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-22.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4e6e7ee048dc9bb2c7b28073c4dbcc4e1f27330
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-22.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+newmtl material-1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-22.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99f4e0c0cdfe3a6782ff20c0e2d58582ec3fca2b
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-23.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4e6e7ee048dc9bb2c7b28073c4dbcc4e1f27330
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-23.mtl
@@ -0,0 +1,16 @@
+newmtl material-0
+illum 3
+d 1
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+Kd 0.7137254901960784 0.7137254901960784 0.7137254901960784 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
+newmtl material-1
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-24.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43f56701fe189a4be175ec24d1b25173e044be69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-24.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-24.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e34161545c3abd6cfa7b27b726db07388f39d9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-25.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..43f56701fe189a4be175ec24d1b25173e044be69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-25.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-25.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1679379244c9b393e17a050a097c078000927c18
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-26.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..699beb3e46b623fc57803ad27a38ddbd3278f4ec
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-26.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef06918da6ab29f523885afe02b83db5bb71983c
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-27.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-27.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-28.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-28.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-28.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ad71708086dbb81ada12d14fb4d7310f6f75042
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..699beb3e46b623fc57803ad27a38ddbd3278f4ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.mtl
@@ -0,0 +1,32 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1692222ff7d222ba8529144c33da9f88a374addc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-29.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
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@@ -0,0 +1,80 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f274e826fbf5493b911b5253e92228ce16df062
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-3.obj
@@ -0,0 +1,994 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-4.mtl
@@ -0,0 +1,80 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.mtl
@@ -0,0 +1,80 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c045ad1e4126be506df2eacc0fb894654ed112
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-5.obj
@@ -0,0 +1,971 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86aedd87f2d65b1c46278e151f35ec4db9b61d4d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-6.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.mtl
@@ -0,0 +1,80 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402ca7a367058553a1267d702822b28e8a9d05da
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-7.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
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+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742e2842a6ad6064783500dab9d6e1ca59929aaf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/new-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fbc8a3365e14c4597059005bf9cd8f9f64e9170
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+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/new-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb071fe4a4752f43be70e8249367385690078fcc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58c6e4ca27ce96be5b6161df292f9dec254f6b6b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72c028144605735883bec7f3c1dabe5c08513d9f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-10.obj
@@ -0,0 +1,1394 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4122b3d82fdd604de927fb12c3fec98200b69b89
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-12.obj
@@ -0,0 +1,286 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7683ac168daf6d4a34a52d19c4a605339bd108dc
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..216ca3c835d00e3a341a273f739534c2fe19f74f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c3f22ccef1de9e946a008ff019a2f3e0704b86
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45c7ae635596f587a370c2360c4a364c7a443178
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7683ac168daf6d4a34a52d19c4a605339bd108dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd21338c561a21241a88393830d41987588bfddc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58c6e4ca27ce96be5b6161df292f9dec254f6b6b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c578c6c2d56893daa1e13621c2dd097061622612
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.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
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5099805d5050cccd6eacf3ed06bee9e8d0b2f3d6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-25.obj
@@ -0,0 +1,2760 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-28.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+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/42647/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50ac094ab6a5cb78862e9e48a824705b156f11c1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7137254901960784 0.7137254901960784 0.7137254901960784 
+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/42647/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943283d8a28882cef3e80d288236ddc04b4cc11a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-29.obj
@@ -0,0 +1,2746 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7137254901960784 0.7137254901960784 0.7137254901960784 
+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/42647/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39f41bd31e7c91f7ccd830055d7be132b7327ac2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-30.obj
@@ -0,0 +1,2746 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-31.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7137254901960784 0.7137254901960784 0.7137254901960784 
+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/42647/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a60bc0a58898a36f3b8ea7ea4c1a01ab88f9e021
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-31.obj
@@ -0,0 +1,2746 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7683ac168daf6d4a34a52d19c4a605339bd108dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7ad31e36156682089b9fa8536be5c4823dcb40a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-4.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f07244218fc09cc7c9be3c7e20d58a8bd93cc75f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b51c4a0f7319365e779197b86ed5fa1d6e84d833
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/textured_objs/original-6.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..7683ac168daf6d4a34a52d19c4a605339bd108dc
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diff --git a/data/PartNet-Mobility/Chair/42647/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/42647/textured_objs/original-8.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42647/tree_hier.html b/data/PartNet-Mobility/Chair/42647/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..d5d93ecf7a25017eee27a9e97aba140deffec02b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>51 back_surface Back Surface</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>48 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 arm_vertical_bar Arm Vertical Bar</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_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 seat_surface Seat Surface</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>43 seat_support Seat Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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>52 back_soft_surface Back Soft Surface</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></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 central_support Central Support</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 central_support Central Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 star_leg_set Star-shape Leg Set</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg Leg</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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></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></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></td><td></td><td><p>20 caster Wheel Assembly</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster_yoke Caster Yoke</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><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></td><td><p>30 caster_yoke Caster Yoke</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>37 caster_stem Caster Stem</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>27 caster_yoke Caster Yoke</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><p>38 caster_stem Caster Stem</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>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 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><p>39 caster_stem Caster Stem</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 caster_yoke Caster Yoke</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><td></td><td><p>40 caster_stem Caster Stem</p><a href="parts_render/40.png"><img src="parts_render/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/42647/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42647/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..3c8ce491ecc93b37e7b355b10a46defd3ddbcc83
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42647/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 chair_arm chair_arm</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 chair_seat chair_seat</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 chair_base chair_base</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 arm_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></td><td><p>13 seat_surface seat_surface</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_support seat_support</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 star_leg_base star_leg_base</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><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>18 central_support central_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 central_support central_support</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 central_support central_support</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 star_leg_set star_leg_set</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 caster caster</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><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 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></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 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 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><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 caster_stem caster_stem</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><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 caster_stem caster_stem</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/bounding_box.json b/data/PartNet-Mobility/Chair/42856/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8778cc6e963bc6b149c5381730987a6e2bf612
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.582652, -0.699218, -0.469216], "max": [0.611069, 0.731485, 0.710394]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/meta.json b/data/PartNet-Mobility/Chair/42856/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4da2fff481d632ea4c12e1b2c7c4c1d8b5ae4b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/meta.json
@@ -0,0 +1 @@
+{"model_id": "cbbbb3aebaf2e112ca07b3f65fc99919", "anno_id": "42856", "user_id": "w15631998789", "time_in_sec": "249", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/mobility.urdf b/data/PartNet-Mobility/Chair/42856/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b11056586e8a5d90f2fbad9d4eb0442e8759b46d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/mobility.urdf
@@ -0,0 +1,483 @@
+<?xml version="1.0" ?>
+<robot name="partnet_cbbbb3aebaf2e112ca07b3f65fc99919">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_stem-32">
+			<origin xyz="0.5199979432784287 0 0.048463262692932975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5199979432784287 0 0.048463262692932975"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.5199979432784287 0 -0.048463262692932975"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-33">
+			<origin xyz="0.5396283893939005 0.6561946915773847 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5396283893939005 0.6561946915773847 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.01963044611547171 -0.6561946915773847 0.048463262692932975"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-34">
+			<origin xyz="0.5396283893939005 0.6561946915773847 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5396283893939005 0.6561946915773847 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.01963044611547171 -0.6561946915773847 0.048463262692932975"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_3">
+		<visual name="caster_stem-29">
+			<origin xyz="0.007857727540286737 0 0.4268238426955686"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.007857727540286737 0 0.4268238426955686"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.007857727540286737 0 -0.4268238426955686"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_3"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-30">
+			<origin xyz="0.027488000000000002 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.027488000000000002 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.019630272459713265 -0.6561945 0.4268238426955686"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-31">
+			<origin xyz="0.027488000000000002 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.027488000000000002 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.019630272459713265 -0.6561945 0.4268238426955686"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_stem-26">
+			<origin xyz="-0.583746262692933 0 -0.07290694327842874"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.583746262692933 0 -0.07290694327842874"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.583746262692933 0 0.07290694327842874"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-27">
+			<origin xyz="-0.5641160000000001 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5641160000000001 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.019630262692932887 -0.6561945 -0.07290694327842874"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-28">
+			<origin xyz="-0.5641160000000001 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5641160000000001 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.019630262692932887 -0.6561945 -0.07290694327842874"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_8"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_stem-23">
+			<origin xyz="-0.1992031573044314 0 -0.6759812724597132"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1992031573044314 0 -0.6759812724597132"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.1992031573044314 0 0.6759812724597132"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-24">
+			<origin xyz="-0.179573 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.179573 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.019630157304431378 -0.6561945 -0.6759812724597132"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_10"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-25">
+			<origin xyz="-0.179573 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.179573 0.6561945 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.019630157304431378 -0.6561945 -0.6759812724597132"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_11"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_12">
+		<visual name="caster_stem-20">
+			<origin xyz="0.396652 0 -0.5410983990680838"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.396652 0 -0.5410983990680838"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.396652 0 0.5410983990680838"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-21">
+			<origin xyz="0.4162823893939005 0.6561946915773849 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4162823893939005 0.6561946915773849 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.019630389393900494 -0.6561946915773849 -0.5410983990680838"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-22">
+			<origin xyz="0.4162823893939005 0.6561946915773849 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4162823893939005 0.6561946915773849 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.019630389393900494 -0.6561946915773849 -0.5410983990680838"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_14"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_15">
+		<visual name="seat_hard_surface-39">
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_hard_surface-43">
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-41">
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-42">
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-35">
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003538000000000003 0 -0.13165949035378124"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.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-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-36">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-37">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_16"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_15_helper"/>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.003538000000000003 0 0.13165949035378124"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15_helper"/>
+		<parent link="link_16"/>
+		<limit lower="0" upper="0.08400000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/42856/mobility_v2.json b/data/PartNet-Mobility/Chair/42856/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..18103c69f70efe5f0e425231e817fb268957385f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":32,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.5199979432784287,0,-0.048463262692932975],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5396283893939005,-0.6561946915773847,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5396283893939005,-0.6561946915773847,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":29,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.007857727540286737,0,-0.4268238426955686],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.027488000000000002,-0.6561945,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":3,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.027488000000000002,-0.6561945,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":26,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.583746262692933,0,0.07290694327842874],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5641160000000001,-0.6561945,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":28,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5641160000000001,-0.6561945,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":23,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.1992031573044314,0,0.6759812724597132],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":24,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.179573,-0.6561945,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.179573,-0.6561945,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":16,"joint":"hinge","name":"caster_stem","parts":[{"id":20,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.396652,0,0.5410983990680838],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":21,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.4162823893939005,-0.6561946915773849,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":12,"joint":"hinge","name":"wheel","parts":[{"id":22,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.4162823893939005,-0.6561946915773849,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":16,"joint":"slider","name":"seat_hard_surface","parts":[{"id":39,"name":"seat_hard_surface","children":[]},{"id":43,"name":"back_hard_surface","children":[]},{"id":41,"name":"back_support","children":[]},{"id":42,"name":"back_connector","children":[]},{"id":35,"name":"central_support","children":[]}],"jointData":{"axis":{"origin":[0.003538000000000003,0,0.13165949035378124],"direction":[0,-1,0]},"limit":{"a":0,"b":0.08400000000000007,"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":36,"name":"central_support","children":[]},{"id":37,"name":"central_support","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/0.png b/data/PartNet-Mobility/Chair/42856/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e97e1da48aaf2996aceb7367518a52f480c88e1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1029b3fe5dee9076c05cc0cf6b210006fc480eed371a9ce186354f64e07ef1
+size 21350
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/0.txt b/data/PartNet-Mobility/Chair/42856/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f189a29b5afe78bc8488f7a211443c5bf04a8e1c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/0.txt
@@ -0,0 +1 @@
+0 chair Sitting Furniture
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/1.png b/data/PartNet-Mobility/Chair/42856/parts_render/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb18b0003ff9026955f55129fefc274561c17250
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24e09e79efafc48c40447dbfe343d4269927d5a9359b35771bbb88ff66eb988
+size 18140
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/1.txt b/data/PartNet-Mobility/Chair/42856/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e90a4c94b69c4c422fd7722948da211a57a37ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/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/42856/parts_render/10.png b/data/PartNet-Mobility/Chair/42856/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..204d5a36444a4e16e615f7f2acdc09803748bd14
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee878fb2bcf932ba1c059c5c478c41bf8989f895fc34c15b236cdb87e3f40c9
+size 16868
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/10.txt b/data/PartNet-Mobility/Chair/42856/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e17739cd901a11ce21f33fb12a4f7051c8a3dcd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/10.txt
@@ -0,0 +1 @@
+10 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/11.png b/data/PartNet-Mobility/Chair/42856/parts_render/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ec02b7681b01c225f0ab32f93f0dc71395a6d7b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5daacc478b4d58918a12d5a3667573c783480fb8389046d06a647e7821c04747
+size 16932
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/11.txt b/data/PartNet-Mobility/Chair/42856/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edeefe1a1757c0394ce2c4e537365862d8651ea1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/11.txt
@@ -0,0 +1 @@
+11 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/12.png b/data/PartNet-Mobility/Chair/42856/parts_render/12.png
new file mode 100644
index 0000000000000000000000000000000000000000..887d42f228c9e53e96db06e31999d9309c086ca4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8e15493ec2ffd90371c835fc253b3798028cb9c8ad257c453c81976eed93fa
+size 16766
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/12.txt b/data/PartNet-Mobility/Chair/42856/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e5fa6d5f4a71eb68b8f161dd96bef2adadf946a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/12.txt
@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/parts_render/13.png b/data/PartNet-Mobility/Chair/42856/parts_render/13.png
new file mode 100644
index 0000000000000000000000000000000000000000..37c0580aad13d489c646abf8f59446b17edfb9ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/parts_render/13.png
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/42856/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a6e31dc76688df991a88f7e7dc3dbf9176884984
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/42856/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..f4bce3472ea6614a718348996a3c386c72d57ddf
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/42856/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5762344a7562500da624f88d551e8874d01b8941
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/point_sample/pts-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a82827aff25e2538646922c74935ef514e521c6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..18b6ce6a8ba380356734d99f10161c4223ee5d76
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ed7586841f7b1955dadce61d699c12a37071bcd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/42856/result.json b/data/PartNet-Mobility/Chair/42856/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..419b159d7e06a0e8ea5f4bf372c7e047638f52bb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["original-1"], "id": 43, "name": "back_hard_surface"}], "id": 40, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-2"], "id": 41, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-4"], "id": 42, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-3"], "id": 39, "name": "seat_hard_surface"}], "id": 38, "name": "seat_surface"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-5"], "id": 8, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["new-2"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-12"], "id": 32, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-11"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 34, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-16"], "id": 29, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-15"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-17"], "id": 31, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-20"], "id": 26, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-21"], "id": 27, "name": "wheel"}, {"text": "Wheel", "objs": ["original-19"], "id": 28, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-24"], "id": 23, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-25"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 25, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-7"], "id": 20, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-6"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-8"], "id": 22, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["new-8"], "id": 35, "name": "central_support"}, {"text": "Central Support", "objs": ["new-7"], "id": 36, "name": "central_support"}, {"text": "Central Support", "objs": ["new-6"], "id": 37, "name": "central_support"}], "id": 5, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
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diff --git a/data/PartNet-Mobility/Chair/42856/result_after_merging.json b/data/PartNet-Mobility/Chair/42856/result_after_merging.json
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/result_after_merging.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/42856/semantics.txt b/data/PartNet-Mobility/Chair/42856/semantics.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/semantics.txt
@@ -0,0 +1,17 @@
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+link_14 hinge wheel
+link_15 slider+ seat
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/new-0.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/new-0.obj
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da64e1414991b639d7d8a9f4d5649440b60081e9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-1.obj
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index 0000000000000000000000000000000000000000..85a49969f29c9c4d79cf9bc479b61f1b8494612b
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bb837dd3987681e3620a67d1fadc293897ef924
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003159ebab370cb8ab3e686fcf80f873e515d786
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-12.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..8c9b0b50695420124b5efcd5bcf079756363ce23
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-15.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb9ef56ba3ba870b0500858b22641eecbedfca3
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-17.obj
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index 0000000000000000000000000000000000000000..bf8fd1713ff77a7667a52f40c055c5560d38d174
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da64e1414991b639d7d8a9f4d5649440b60081e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfeb0a171fac0e635ce94a23b6b2824b43ff3560
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81828e399e2866f842135d32e36936b500959c9e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/textured_objs/original-20.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-23.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846df620cfb4fac6656a91abfc1301a4063a4884
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..a25aa0f13733f339243d32be3e2f37d19f3e3047
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/42856/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da64e1414991b639d7d8a9f4d5649440b60081e9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0433edbc1a49b56693c2f9479d29e101f28d8c
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..ce3e805446277f0e9bb4814e1c33282d60e43794
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d839c0c0f6a40d723fabdebcc1664c806df41abe
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..314b3ad91a49cb9f14565ecccc663d1296545b2a
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diff --git a/data/PartNet-Mobility/Chair/42856/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/42856/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf1581ff84fe2e6a3293a865997b638942c1f1b9
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diff --git a/data/PartNet-Mobility/Chair/42856/tree_hier.html b/data/PartNet-Mobility/Chair/42856/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..85c960c3f43c4329d3b4c3919072aceaf10f3704
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/tree_hier.html
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair 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>40 back_surface Back Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 back_support Back Support</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 back_connector Back Connector</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>38 seat_surface Seat 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><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>43 back_hard_surface Back Hard Surface</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 seat_hard_surface Seat Hard Surface</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></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>35 central_support Central Support</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 central_support Central Support</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 central_support Central Support</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_stem Caster Stem</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_stem Caster Stem</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_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><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_stem Caster Stem</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_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><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/42856/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/42856/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..484feb2dd46fbcc29967d0e3074fdf61d691b6e6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/42856/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 star_leg_set star_leg_set</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 central_support central_support</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 central_support central_support</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support central_support</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 leg leg</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg leg</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 leg leg</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 leg leg</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 leg leg</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 caster caster</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 caster caster</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></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></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster_stem caster_stem</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 wheel wheel</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel wheel</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 caster_stem caster_stem</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 wheel wheel</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><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_stem caster_stem</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 caster_stem caster_stem</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><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/43074/bounding_box.json b/data/PartNet-Mobility/Chair/43074/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2de30240e220ea696b71bdafc9f8d07ae4c604e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.584281, -0.78618, -0.467837], "max": [0.55656, 0.803554, 0.639237]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/43074/images/texture_0.jpg b/data/PartNet-Mobility/Chair/43074/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3a8c6b76fa609b5afd59c001dd0509869e647c3a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412c03f123bf6f719a500101e434bde362cc8dd3f7d50232e0b8115d6e991450
+size 28612
diff --git a/data/PartNet-Mobility/Chair/43074/images/texture_1.jpg b/data/PartNet-Mobility/Chair/43074/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..84ec1a2fa0334e586b6e4c2364fe153b0303483a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b24c6634fa828714667bfde1e44383c6cc403b12ff7225a64eb5e75ce3221a9
+size 7997
diff --git a/data/PartNet-Mobility/Chair/43074/meta.json b/data/PartNet-Mobility/Chair/43074/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11084dd370e104803617fecd64e524ece83e8faa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/meta.json
@@ -0,0 +1 @@
+{"model_id": "d1ec6e9b8063b7efd7f7a4c4609b0913", "anno_id": "43074", "user_id": "yzwangshuo", "time_in_sec": "251", "version": "5", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/43074/mobility.urdf b/data/PartNet-Mobility/Chair/43074/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba3aadb9db4ff6810b56142d76c25b264ca551ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/mobility.urdf
@@ -0,0 +1,564 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d1ec6e9b8063b7efd7f7a4c4609b0913">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-35">
+			<origin xyz="-0.02677339332178235 0.16576168713048328 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-35">
+			<origin xyz="-0.02677339332178235 0.16576168713048328 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.02677339332178235 0.16576168713048328 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.02677339332178235 0.16576168713048328 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.042844893321782346 -0.16576168713048328 -0.12208550000000001"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.29530970943744084"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-32">
+			<origin xyz="0.5360280299186702 0 0.04755001783370984"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5360280299186702 0 0.04755001783370984"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.5360280299186702 0 -0.04755001783370984"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-33">
+			<origin xyz="0.002046237299331454 0.742803 -0.03895864011900775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002046237299331454 0.742803 -0.03895864011900775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.5339817926193388 -0.742803 0.08650865795271759"/>
+		<axis xyz="0.9986234976185615 0 0.05245102481430851"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-34">
+			<origin xyz="0.002046237299331454 0.742803 -0.03895864011900775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002046237299331454 0.742803 -0.03895864011900775"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.5339817926193388 -0.742803 0.08650865795271759"/>
+		<axis xyz="0.9986234976185615 0 0.05245102481430851"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-29">
+			<origin xyz="0.017532541751861565 0 0.4244071406126019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017532541751861565 0 0.4244071406126019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.017532541751861565 0 -0.4244071406126019"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-30">
+			<origin xyz="-0.037246985880960926 0.742803 0.009960593732948553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.037246985880960926 0.742803 0.009960593732948553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.05477952763282249 -0.742803 0.4144465468796533"/>
+		<axis xyz="-0.25834213522744837 0 -0.966053487735603"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-31">
+			<origin xyz="-0.037246985880960926 0.742803 0.009960593732948553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.037246985880960926 0.742803 0.009960593732948553"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.05477952763282249 -0.742803 0.4144465468796533"/>
+		<axis xyz="-0.25834213522744837 0 -0.966053487735603"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-26">
+			<origin xyz="-0.5123859311640262 0 0.04525242913514378"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5123859311640262 0 0.04525242913514378"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.5123859311640262 0 -0.04525242913514378"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-27">
+			<origin xyz="-0.09830835718244654 0.742803 -0.15097545498952347"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.09830835718244654 0.742803 -0.15097545498952347"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.4140775739815796 -0.742803 0.19622788412466724"/>
+		<axis xyz="0.8380012027905769 0 -0.545668382922766"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-28">
+			<origin xyz="-0.09830835718244654 0.742803 -0.15097545498952347"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.09830835718244654 0.742803 -0.15097545498952347"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.4140775739815796 -0.742803 0.19622788412466724"/>
+		<axis xyz="0.8380012027905769 0 -0.545668382922766"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-23">
+			<origin xyz="-0.3055708224326379 0 -0.5702459491044274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3055708224326379 0 -0.5702459491044274"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.3055708224326379 0 0.5702459491044274"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-24">
+			<origin xyz="0.11825108031107609 0.742803 -0.14571647582963343"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11825108031107609 0.742803 -0.14571647582963343"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.423821902743714 -0.742803 -0.42452947327479396"/>
+		<axis xyz="-0.7764882365940593 0 -0.6301317468839739"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-25">
+			<origin xyz="0.11819472693059302 0.742803 -0.14566334470124453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11819472693059302 0.742803 -0.14566334470124453"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.4237655493632309 -0.742803 -0.42458260440318285"/>
+		<axis xyz="-0.7765227814614928 0 -0.6300891761261312"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_yoke-20">
+			<origin xyz="0.33359441414475344 0 -0.5689849150180771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.33359441414475344 0 -0.5689849150180771"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.33359441414475344 0 0.5689849150180771"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-21">
+			<origin xyz="0.052039478872455844 0.742803 0.019923244002574916"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.052039478872455844 0.742803 0.019923244002574916"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="0.2815549352722976 -0.742803 -0.5889081590206521"/>
+		<axis xyz="-0.35754131262556976 0 0.9338973229247339"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-22">
+			<origin xyz="0.052039478872455844 0.742803 0.019923244002574916"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.052039478872455844 0.742803 0.019923244002574916"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.2815549352722976 -0.742803 -0.5889081590206521"/>
+		<axis xyz="-0.35754131262556976 0 0.9338973229247339"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="arm_holistic_frame-47">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-46">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-54">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_holistic_frame-53">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-57">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-56">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-40">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-40">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-40">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-36">
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0160715 0 -0.12208550000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support-38">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-39">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="-0.0160715 0 0.12208550000000001"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.14"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/43074/mobility_v2.json b/data/PartNet-Mobility/Chair/43074/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..762fe0b94420b1fd7912ec2c187d30f5e4315572
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/43074/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/43074/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..2885fc11e1f5a33925cf2818d4be8c133a3aa91e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/43074/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/43074/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..e96ce860efb76a7d243d8421ffea64140d52f4b0
--- /dev/null
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