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+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Globe/100790/mobility_v2.json b/data/PartNet-Mobility/Globe/100790/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab4699b6da1b29e241335d6294c935fea3e688a
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "sphere", "parts": [{"id": 1, "name": "sphere"}], "jointData": {"axis": {"origin": [-0.010044914996355736, 0.8992240796115931, -0.25276045228666344], "direction": [-0.004319098376171014, -0.9124398932291848, 0.40918796002953295]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body"}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": false}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Globe/100790/result.json b/data/PartNet-Mobility/Globe/100790/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..13dc5a7fef855a042fc61aee8fd92f0f7cf1b988
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/result.json
@@ -0,0 +1 @@
+[{"text": "Globe", "name": "Globe", "id": 0, "children": [{"text": "sphere", "name": "sphere", "id": 1, "objs": ["original-41", "original-73", "original-44", "original-10", "original-32", "original-12", "original-30", "original-23", "original-40", "original-28", "original-50", "original-9", "original-29", "original-63", "original-68", "original-11", "original-66", "original-64", "original-67", "original-61", "original-60", "original-59", "original-55", "original-74", "original-51", "original-48", "original-65", "original-24", "original-15", "original-25", "original-46", "original-22", "original-31", "original-16", "original-27", "original-26", "original-5", "original-49", "original-43", "original-38", "original-53", "original-7", "original-8", "original-71", "original-45", "original-35", "original-69", "original-70", "original-47", "original-54", "original-52", "original-37", "original-39", "original-72", "original-13", "original-14", "original-17", "original-21", "original-20", "original-18", "original-33", "original-34", "original-57", "original-42", "original-36", "original-56", "original-6", "original-58", "original-19", "original-62", "original-2", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-103", "original-100", "original-119", "original-96", "original-83", "original-117", "original-110", "original-107", "original-104", "original-4", "original-112", "original-106", "original-86", "original-109", "original-93", "original-120", "original-77", "original-114", "original-87", "original-113", "original-111", "original-116", "original-85", "original-108", "original-99", "original-98", "original-80", "original-118", "original-91", "original-92", "original-79", "original-102", "original-115", "original-95", "original-105", "original-101", "original-81", "original-84", "original-78", "original-97", "original-89", "original-90"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Globe/100790/result_original.json b/data/PartNet-Mobility/Globe/100790/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba581d2520a2172486cefd0e486115026032119
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Globe", "text": "Globe", "children": [{"id": 1, "name": "sphere", "text": "sphere", "objs": ["original-41", "original-73", "original-44", "original-10", "original-32", "original-12", "original-30", "original-23", "original-40", "original-28", "original-50", "original-9", "original-29", "original-63", "original-68", "original-11", "original-66", "original-64", "original-67", "original-61", "original-60", "original-59", "original-55", "original-74", "original-51", "original-48", "original-65", "original-24", "original-15", "original-25", "original-46", "original-22", "original-31", "original-16", "original-27", "original-26", "original-5", "original-49", "original-43", "original-38", "original-53", "original-7", "original-8", "original-71", "original-45", "original-35", "original-69", "original-70", "original-47", "original-54", "original-52", "original-37", "original-39", "original-72", "original-13", "original-14", "original-17", "original-21", "original-20", "original-18", "original-33", "original-34", "original-57", "original-42", "original-36", "original-56", "original-6", "original-58", "original-19", "original-62", "original-2", "original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Globe/100790/semantics.txt b/data/PartNet-Mobility/Globe/100790/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50d79be647c3b20ad308f2c4e69a71d354e49576
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge sphere
+link_1 free globe_frame
diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.mtl b/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d927ee974c63a45d31d0122968490a03a191cbe3
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.6 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.obj b/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d28729a4f709e56d23b31d96b184b151003dfafa
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/textured_objs/original-10.obj
@@ -0,0 +1,62 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID5363
+v 0.454876 0.405317 0.299794
+v 0.453340 0.406948 0.301674
+v 0.453854 0.405000 0.301479
+v 0.455900 0.405925 0.298016
+v 0.456834 0.406792 0.296297
+v 0.457603 0.407823 0.294785
+v 0.454359 0.407249 0.299999
+v 0.455256 0.407783 0.298440
+v 0.456076 0.408543 0.296933
+v 0.456835 0.409578 0.295434
+v 0.456835 0.409578 0.295434
+v 0.457603 0.407823 0.294785
+v 0.456076 0.408543 0.296933
+v 0.455256 0.407783 0.298440
+v 0.454359 0.407249 0.299999
+v 0.453340 0.406948 0.301674
+v 0.456834 0.406792 0.296297
+v 0.455900 0.405925 0.298016
+v 0.454876 0.405317 0.299794
+v 0.453854 0.405000 0.301479
+vt 1.170981 0.6815007
+vt 1.171609 0.680631
+vt 1.170526 0.6803981
+vt 1.170014 0.6794605
+vt 1.169435 0.6786454
+vt 1.16876 0.6779363
+vt 1.171148 0.6795269
+vt 1.170564 0.6784579
+vt 1.169904 0.6775285
+vt 1.169227 0.6768067
+vn 0.829211603142032 0.16505049048825515 0.5340097871801673
+vn 0.8292182200563621 0.16502521023921926 0.5340073253355799
+vn 0.8292176505323757 0.16502731474191082 0.5340075593422258
+vn 0.8292104090817526 0.16505496863186234 0.534010257205241
+vn 0.8292104672569977 0.1650548806411124 0.5340101940674725
+vn -0.8292182200563621 -0.16502521023921926 -0.5340073253355799
+vn -0.8292176505323757 -0.16502731474191082 -0.5340075593422258
+vn -0.8292104090817526 -0.16505496863186234 -0.534010257205241
+vn -0.8292104672569977 -0.1650548806411124 -0.5340101940674725
+vn -0.829211603142032 -0.16505049048825515 -0.5340097871801673
+usemtl material_0_0
+f 11/1/6 12/2/7 13/3/8
+f 13/3/8 12/2/7 14/4/9
+f 14/4/9 12/2/7 15/5/8
+f 15/5/8 12/2/7 16/6/6
+f 12/2/7 17/7/10 16/6/6
+f 17/7/10 18/8/10 16/6/6
+f 18/8/10 19/9/10 16/6/6
+f 20/10/7 16/6/6 19/9/10
+usemtl material_1_0
+f 1//1 2//2 3//3
+f 2//2 1//1 4//1
+f 2//2 4//1 5//1
+f 2//2 5//1 6//3
+f 2//2 6//3 7//4
+f 7//4 6//3 8//5
+f 8//5 6//3 9//4
+f 9//4 6//3 10//2
diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.mtl b/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c3877c57dcf81328c7ddb2eb132585c16f6c4e21
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_3689.jpg
+
diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.obj b/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13752875ba0f0c6a8704528d4aa88d75446e0aec
--- /dev/null
+++ b/data/PartNet-Mobility/Globe/100790/textured_objs/original-100.obj
@@ -0,0 +1,291 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o instance_3/Group_7/ID19195#ID19195
+v 0.017918 -0.054478 -0.461739
+v 0.013586 0.009139 -0.510396
+v 0.017678 0.010592 -0.508067
+v 0.013827 -0.056223 -0.463859
+v 0.013827 -0.056223 -0.463859
+v 0.017918 -0.054478 -0.461739
+v 0.013586 0.009139 -0.510396
+v 0.017678 0.010592 -0.508067
+v 0.020411 0.012756 -0.504578
+v 0.020649 -0.051876 -0.458561
+v 0.020649 -0.051876 -0.458561
+v 0.020411 0.012756 -0.504578
+v 0.008757 0.008618 -0.511210
+v 0.008998 -0.056846 -0.464601
+v 0.008998 -0.056846 -0.464601
+v 0.008757 0.008618 -0.511210
+v 0.021367 0.015303 -0.500461
+v 0.021604 -0.048814 -0.454812
+v 0.021604 -0.048814 -0.454812
+v 0.021367 0.015303 -0.500461
+v 0.008998 -0.056846 -0.464601
+v -0.022952 0.008522 -0.511181
+v 0.008757 0.008618 -0.511210
+v -0.022711 -0.056942 -0.464572
+v -0.022711 -0.056942 -0.464572
+v 0.008998 -0.056846 -0.464601
+v -0.022952 0.008522 -0.511181
+v 0.008757 0.008618 -0.511210
+v 0.021357 0.022380 -0.489001
+v 0.021604 -0.048814 -0.454812
+v 0.021367 0.015303 -0.500461
+v 0.021588 -0.040301 -0.444373
+v 0.021588 -0.040301 -0.444373
+v 0.021357 0.022380 -0.489001
+v 0.021604 -0.048814 -0.454812
+v 0.021367 0.015303 -0.500461
+v -0.022711 -0.056942 -0.464572
+v -0.027782 0.009014 -0.510357
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diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-105.obj b/data/PartNet-Mobility/Globe/100790/textured_objs/original-105.obj
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index 0000000000000000000000000000000000000000..daf8406201843ab0098ded36466b34973fd6fdf7
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diff --git a/data/PartNet-Mobility/Globe/100790/textured_objs/original-107.obj b/data/PartNet-Mobility/Globe/100790/textured_objs/original-107.obj
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