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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-797.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-797.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c36bb9edf69c176909b830096ce0fb570a732009
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-799.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-799.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8171179cb38f48e39b4710a553fa366ca5bb2264
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-799.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-799.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-799.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b7084ad1936ae5039910fcede8358a636abe88
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e6a337e677db190b4f033b20dd13584d6d244bf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.mtl
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index 0000000000000000000000000000000000000000..92134beff5fc9ce1aef68773561fbe725b96f89b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e1b3b5dd8b4f740ee3bbbe6bcea74b9cb4fa818
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23288e2fa2d53aed776dcc346e8d5da8926428d9
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-800.obj
@@ -0,0 +1,389 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-801.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-801.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-801.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-801.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-801.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a3eb08495ccb9f9a98566c3d76fa59b0edf80c7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-802.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-802.mtl
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index 0000000000000000000000000000000000000000..114ffe88b576d0df469a273bd7a2d86818737192
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-802.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-802.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-806.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-806.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-807.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-807.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-808.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-808.obj
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-808.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-809.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-809.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-809.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-809.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-811.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-811.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5bebea6dedc76c49565c038aa682f5b65db8a2a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-811.obj
@@ -0,0 +1,815 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76cf1031958c28db198b7567981470f47c2e086b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-812.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.043137254901960784 0.043137254901960784 0.043137254901960784 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5486a059f4859886af1ae0be0f1a7ba1774045b7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-813.obj
@@ -0,0 +1,439 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-814.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-814.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-814.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-814.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d8f1ff67bc519695c3c9d57eaf9220025298b7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-815.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-815.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-815.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-815.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51c6bc9b9e5feaaf9f83082b8aff7bd26559a3c5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-816.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-816.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866969e643119115fa9f4779491c04f034dde3e8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-816.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-816.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-816.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b1a14cc4f80541fa1af0bbf01241b773dc1e3f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96ac4c20be7838d9fefd03ae01ccfb8f82652637
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-817.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866969e643119115fa9f4779491c04f034dde3e8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e8652f87b4745f06d08f962e2cc62c1417afb57
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-818.obj
@@ -0,0 +1,3626 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7a417d28428d4fcd03d768a38725054bdb92066
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-819.obj
@@ -0,0 +1,718 @@
+# SSTK version 0.8.0
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+mtllib original-819.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-82.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-82.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-84.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-84.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-84.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-85.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-85.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-87.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-87.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-87.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-87.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-88.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-9.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-90.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-90.mtl
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index 0000000000000000000000000000000000000000..92134beff5fc9ce1aef68773561fbe725b96f89b
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-90.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-90.obj
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index 0000000000000000000000000000000000000000..438b75508793d5f9c572e985c7677367838e3b5f
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-91.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-91.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-93.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-93.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-93.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-93.obj
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+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<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-21.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-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.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-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_7"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Camera/102892/mobility_v2.json b/data/PartNet-Mobility/Camera/102892/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc652add3e20ecddbf69e6ba4df03738676d8eaf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":7,"joint":"hinge","name":"lens","parts":[{"id":1,"name":"lens"}],"jointData":{"axis":{"origin":[0.21704729370772727,-0.018650288371702815,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":7,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.02400000000000002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":7,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.02400000000000002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":7,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.02400000000000002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":7,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.02400000000000002,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":7,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[-0.5619322227111025,-0.013769117550235431,0.038405773942869224],"direction":[-0.014320140276888542,0.9893048467608807,0.14515803029071625]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":7,"joint":"hinge","name":"knob","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[-0.5778062161041022,-0.0000025358944445544274,-0.2621366007229981],"direction":[-0.000004911302174416191,0.9999999999872765,0.0000011516383422866165]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":10,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102892/result.json b/data/PartNet-Mobility/Camera/102892/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e47e41473bda189b61d14cea722ca59a15111638
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-7", "original-9", "original-8"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-15"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-34"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-37", "original-36"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-33"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-24", "original-25"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-4", "original-16", "original-17", "original-18"]}, {"text": "base_body", "name": "base_body", "id": 10, "objs": ["original-29", "original-21", "original-30", "original-28", "original-22", "original-26", "original-3", "original-2", "original-13", "original-5", "original-27", "original-6", "original-31", "original-23", "original-11", "original-12", "original-20", "original-32", "original-1", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102892/result_original.json b/data/PartNet-Mobility/Camera/102892/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..77250ba6198b1d570db99fc38f97ce0e0be7c8a3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-7", "original-9", "original-8"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-15"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-34"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-37", "original-36"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-33"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-24", "original-25"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-4", "original-16", "original-17", "original-18"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102892/semantics.txt b/data/PartNet-Mobility/Camera/102892/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..66f458954d3787866f43442905f468c25153e479
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/semantics.txt
@@ -0,0 +1,8 @@
+link_0 hinge lens
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 hinge knob
+link_7 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c41068d3c1c1ed6bb9ebff00266bff1720f71882
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-1.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID18
+v -0.085055 -0.298211 0.173036
+v -0.147161 -0.210505 -0.473841
+v -0.085095 -0.298232 -0.473841
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+v 0.101992 -0.412987 0.173036
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+v -0.194253 -0.003132 0.173036
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+f 1//1 2//2 3//3
+f 2//2 1//1 4//4
+f 1//1 5//5 6//6
+f 5//5 1//1 3//3
+f 4//4 7//7 2//2
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+f 6//6 9//8 10//9
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+f 25//23 24//22 26//23
+f 24//22 25//23 23//21
diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0b1667444b1ef0ab43ad23a4d1a00a81122f7fe5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.9803921568627451 0.9411764705882353 0.9019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eec85453dbe925eb3e0c2537ceb3c819e9ca5f8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-10.obj
@@ -0,0 +1,64 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID85
+v 0.140569 0.515645 -0.509126
+v 0.340513 0.399980 -0.509126
+v 0.140569 0.399980 -0.509126
+v 0.340513 0.515645 -0.509126
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+v 0.140569 0.399980 -0.509126
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 27//2 28//2 29//2
+f 30//2 29//2 28//2
diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-11.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9999d9020e3d682dbb81a9f441f62f0af73afd6b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9803921568627451 0.9411764705882353 0.9019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ns 30
+Kd 0.8196078431372549 0.7058823529411765 0.5450980392156862 
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-11.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-12.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-12.mtl
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-13.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-13.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-22.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-22.mtl
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index 0000000000000000000000000000000000000000..7fc130bcfc1793195dd4486b2bb2e3df01d44f12
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-22.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ebd414b8907ce867933aac54425664d0f5a5ff
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-23.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-24.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-24.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-25.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-25.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-26.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-26.mtl
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index 0000000000000000000000000000000000000000..7fc130bcfc1793195dd4486b2bb2e3df01d44f12
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-26.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c05caa104cf5e74bc65d2eb1507b4fffcce0e1b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-27.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-27.mtl
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index 0000000000000000000000000000000000000000..7fc130bcfc1793195dd4486b2bb2e3df01d44f12
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-27.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-27.obj
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index 0000000000000000000000000000000000000000..9a5beb025af84a896858b2203bf275a51d379525
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+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.mtl
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index 0000000000000000000000000000000000000000..7fc130bcfc1793195dd4486b2bb2e3df01d44f12
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b73643ddd63e642814881177805fde134977d2b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-3.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-3.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-3.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-3.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-30.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-30.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-30.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-30.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..356c7e3d26d58474f4aad14f9892cafaa6b321a4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-32.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968a9bc0595db237d7a79832356a4a0869ea746a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-32.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6550e57b8dff597d6f087fa671ac2dcd99db4f3e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-33.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-33.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-33.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..596dd443f40c390f4c318e9b4a573e2ccb65373b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..1813e0c9c1d65119e9c6dd9847968295554f919c
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-34.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-34.obj
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index 0000000000000000000000000000000000000000..725b5133d530995fd5a06a2a7aeba956a276aa97
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-36.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-37.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-37.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-37.obj
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index 0000000000000000000000000000000000000000..6ef2c2139c0105563bea9562df63adc7af213603
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f9337eb944db0cfb90d5255aed0139572aeb621
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..108f7b96bde0d95ec2549efaf5db10293c18a436
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-7.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7fc130bcfc1793195dd4486b2bb2e3df01d44f12
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-7.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cafae1d64e2d9ce0f8c1951fb2e4749ecd02b1e
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-8.mtl b/data/PartNet-Mobility/Camera/102892/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102892/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Camera/102892/textured_objs/original-8.obj b/data/PartNet-Mobility/Camera/102892/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5093a947a17f5e06ddc1370d6c8c300474a2a340
--- /dev/null
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+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 -0.11133499999999999 0.1859835"/>
+		<axis xyz="1.0 0.0 0.0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-2">
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 0.11133499999999999 -0.1859835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 -0.11133499999999999 0.1859835"/>
+		<axis xyz="1.0 0.0 0.0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_2">
+		<visual name="handle-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Cart/100075/mobility_v2.json b/data/PartNet-Mobility/Cart/100075/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..24651b57d82eca63ee47cb961c92673747c854f2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.11133499999999999, 0.1859835], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.11133499999999999, 0.1859835], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "free", "name": "handle", "parts": [{"id": 3, "name": "handle", "children": []}, {"id": 4, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100075/result.json b/data/PartNet-Mobility/Cart/100075/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef35f9de919fcc262bad5a5b104d868aabd4047b
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-18", "original-15", "original-13", "original-12", "original-10", "original-19", "original-20", "original-17", "original-16", "original-14"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-36", "original-38", "original-30", "original-35", "original-39", "original-40", "original-34", "original-37", "original-33", "original-32"]}, {"text": "handle", "name": "handle", "id": 3, "objs": ["original-48", "original-4", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-41", "original-28", "original-43", "original-52", "original-22", "original-26", "original-3", "original-44", "original-8", "original-45", "original-49", "original-54", "original-27", "original-51", "original-55", "original-50", "original-6", "original-23", "original-42", "original-24", "original-47", "original-53", "original-7", "original-1", "original-46"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100075/result_original.json b/data/PartNet-Mobility/Cart/100075/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29d6dfcafbf2c051859ec7647b058dcacd522ab
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-18", "original-15", "original-13", "original-12", "original-10", "original-19", "original-20", "original-17", "original-16", "original-14"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-36", "original-38", "original-30", "original-35", "original-39", "original-40", "original-34", "original-37", "original-33", "original-32"]}, {"id": 3, "name": "handle", "text": "handle", "objs": ["original-48", "original-4", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100075/semantics.txt b/data/PartNet-Mobility/Cart/100075/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7ebac928fed30be8d2902924baacb738349ff94
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 free cart_body
diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3837db47390fdb9361986750a46e0cfde793af72
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7215686274509804 0.5215686274509804 0.0392156862745098 
+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 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b31c614bf3d7309f14e0f6e4711a4e98ac5504
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-1.obj
@@ -0,0 +1,5406 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o donut1/donut/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_2.jpg
+
diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d679528f03e9635fb9ed7bad484d1b29dea79d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-12.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-12.mtl
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index 0000000000000000000000000000000000000000..b643c500f4edbe503b4ac60fb1ee33dda21a72ea
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-12.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21dd86940c0145ca48718a516ebbdb079ce1d158
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-13.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b643c500f4edbe503b4ac60fb1ee33dda21a72ea
--- /dev/null
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-13.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1321c36f3ab1afdaceafb4d70e052c615de6d80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-14.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-14.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bf90665646c055cbaad9e4c4a5f26b925fd8fbc
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-15.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-16.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-19.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-20.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b643c500f4edbe503b4ac60fb1ee33dda21a72ea
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.mtl
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1939f56341c9c1baba0993a57f9b5b31ea68ea
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-33.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
--- /dev/null
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-34.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dffddce74f372eccf63caac587d3167786ca044
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78197c36073d326fa36e5f06284e4a6ec9819a27
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..778c25b5a09d9681ca6e177481eaee8136fee5b8
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+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17de43f1e20e135714b9bf35bbd42c95527af17d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-39.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-4.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-42.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-42.mtl
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index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-42.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-42.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-48.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b54f8c5a43fc07ce42ba4438b19a69edc7c220
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-49.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-49.obj
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index 0000000000000000000000000000000000000000..99487d42326bbf8a9836bae0cb7ba2c243388212
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-5.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-5.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..3837db47390fdb9361986750a46e0cfde793af72
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-50.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..290162b0994b54518df62347005944230b1909fd
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-51.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 51
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..254a7bc2db90db76f050abc2e11e20c1efdd17cc
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39899da0314a3e6ddd795260c842c844e3872f7
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-52.obj
@@ -0,0 +1,358 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-53.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..254a7bc2db90db76f050abc2e11e20c1efdd17cc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-53.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-53.obj
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index 0000000000000000000000000000000000000000..39119c342e479c35ad54027dca3e0ad35fdca635
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-7.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.mtl b/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d4be1004da87e6ae5f2fc8df61363d5b166e026e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+map_Kd ../images/texture_2.jpg
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diff --git a/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.obj b/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7d1c064ec297659e3c8098e27eb871d6084a96a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100075/textured_objs/original-8.obj
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+f 252/751/23 247/750/3 246/756/23
+f 246/756/22 247/750/8 252/751/22
diff --git a/data/PartNet-Mobility/Cart/100084/bounding_box.json b/data/PartNet-Mobility/Cart/100084/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bcb5be6bed27926430b36792e0645e02b689424
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.408492, -0.336636, -0.879541], "max": [1.072209, 0.427682, 0.645444]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100084/meta.json b/data/PartNet-Mobility/Cart/100084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..259dc8d0daf1b51ced0aeef20452543213df0751
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "2f3f2f89bedb2eebc53e0f0bcac3841a", "version": "1", "anno_id": "84", "time_in_sec": "94"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100084/mobility.urdf b/data/PartNet-Mobility/Cart/100084/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b314213f4636b11d7a7e2acebb1e016230587ae0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/mobility.urdf
@@ -0,0 +1,199 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2f3f2f89bedb2eebc53e0f0bcac3841a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-1">
+			<origin xyz="-0.07936999999999994 0.1908761077481665 -0.31623324022552207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel-1">
+			<origin xyz="-0.07936999999999994 0.1908761077481665 -0.31623324022552207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07936999999999994 0.1908761077481665 -0.31623324022552207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.07936999999999994 0.1908761077481665 -0.31623324022552207"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.07936999999999994 -0.1908761077481665 0.31623324022552207"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Cart/100084/mobility_v2.json b/data/PartNet-Mobility/Cart/100084/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18c876d99a3f2e0a611d8b657ee3c88774c6788
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.07936999999999994, -0.1908761077481665, 0.31623324022552207], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100084/result.json b/data/PartNet-Mobility/Cart/100084/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0477a2ed6633c3cdd545882e126541cef3e4a93c
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-12", "original-13"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-16", "original-8", "original-9", "original-5", "original-6", "original-15", "original-18", "original-17", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100084/result_original.json b/data/PartNet-Mobility/Cart/100084/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4068117cccaafaa2eaf56ff115f3b6d7d79496
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-12", "original-13"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100084/semantics.txt b/data/PartNet-Mobility/Cart/100084/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c80b9b97f82255beaa6e9debe0ddf1553f76af
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge wheel
+link_1 free cart_body
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f08904178a37ebf2b95180124a6b42787ee4ffa
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9098039215686274 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35734d4cb865d40a53b7ce2afb6f211a7a9c201a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-10.obj
@@ -0,0 +1,18680 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
+v -0.027194 0.123220 0.592652
+v -0.065525 0.126356 0.582174
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0998c8585b7aa4b7f2e74af3067616217a625bcf
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.1843137254901961 0.30980392156862746 0.30980392156862746 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d52baa8f9b880e980a4efd582e714f9ba640efa
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-12.obj
@@ -0,0 +1,3479 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0998c8585b7aa4b7f2e74af3067616217a625bcf
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.1843137254901961 0.30980392156862746 0.30980392156862746 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0342b1937bdcf73a1f18ca936035e4224d7b162d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-13.obj
@@ -0,0 +1,3611 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c9e362f225328d4c458e1b8a7084703611225db
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-14.obj
@@ -0,0 +1,1803 @@
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd67559a71e0a27bba9824cd5db3f682d3cab9d9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.5490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6234161e300e8c2de7210ce2b655cefdce7bb711
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-15.obj
@@ -0,0 +1,1452 @@
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a5e3a44989784ec5f5c0e91e34797326463124
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-16.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh89/mesh89-geometry#mesh89-geometry
+v 1.071520 -0.005889 0.239206
+v 1.072094 -0.005959 0.239206
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+f 4//2 1//2 2//2
+f 4//1 1//1 5//1
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+f 8//1 1//1 9//1
+f 9//2 1//2 8//2
+f 9//1 1//1 10//1
+f 10//2 1//2 9//2
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bd0bcc9d9d5c35c06421cbcd79300f7c903c38
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-17.obj
@@ -0,0 +1,1947 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9314c73345b470610271e05a0e8f08bf75ee4b07
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-18.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o mesh91/mesh91-geometry#mesh91-geometry
+v -0.053202 -0.246936 0.406471
+v -0.048786 -0.221659 0.417774
+v -0.048660 -0.246936 0.406471
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+f 4//2 1//2 2//2
+f 4//3 5//3 2//3
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+f 5//3 4//3 6//3
+f 6//4 4//4 5//4
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-2.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..160b95d8d8536848b42c37e9da336091ed012375
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9372549019607843 0.9568627450980393 
+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/Cart/100084/textured_objs/original-2.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d98c95767342254e8f53610097180719253847e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-2.obj
@@ -0,0 +1,3516 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Group3/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..982953f2e9ddeb371def82c53c35bb3475411e81
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9372549019607843 0.9568627450980393 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3069e172c071a7137233422dc0b8c57916f4fc2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-3.obj
@@ -0,0 +1,3682 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b57954f948e78d564b10f3db7e4008ca9101ff0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.5490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2af782a6a04e50bc228a631e802b64d0746358e9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-4.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b57954f948e78d564b10f3db7e4008ca9101ff0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.5490196078431373 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f1989c4139221f479d9440399f288ce852d0d8
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-5.obj
@@ -0,0 +1,1365 @@
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.mtl b/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b57954f948e78d564b10f3db7e4008ca9101ff0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971f9a78b3f85cbeff024da644b03045162912c8
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-6.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100084/textured_objs/original-9.obj b/data/PartNet-Mobility/Cart/100084/textured_objs/original-9.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100084/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/bounding_box.json b/data/PartNet-Mobility/Cart/100487/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a0fb015f18f847f57f4bbd0ec7a855e90bc3bc
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/bounding_box.json
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Cart/100487/meta.json b/data/PartNet-Mobility/Cart/100487/meta.json
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--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/meta.json
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+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "2ffa5883f6eaa667ec8621169acea877", "version": "1", "anno_id": "487", "time_in_sec": "12"}
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diff --git a/data/PartNet-Mobility/Cart/100487/mobility.urdf b/data/PartNet-Mobility/Cart/100487/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_2ffa5883f6eaa667ec8621169acea877">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel-1">
+			<origin xyz="0 0.2214165 -0.5478970000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.2214165 -0.5478970000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0 -0.2214165 0.5478970000000001"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.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/Cart/100487/mobility_v2.json b/data/PartNet-Mobility/Cart/100487/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cebfd51e9e20413ecbbb327fe6687b37cf7075f
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.2214165, 0.5478970000000001], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100487/result.json b/data/PartNet-Mobility/Cart/100487/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..279cda06111eb54aab43215ae864219ef47ff815
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-17"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-11", "original-18", "original-12", "original-7", "original-1", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100487/result_original.json b/data/PartNet-Mobility/Cart/100487/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..8610ed3a1b2e00a18f491816c19678b256088388
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-17"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100487/semantics.txt b/data/PartNet-Mobility/Cart/100487/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c80b9b97f82255beaa6e9debe0ddf1553f76af
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge wheel
+link_1 free cart_body
diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.mtl b/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f757d0a5a60b481f01871e5962184f914986b0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-1.obj
@@ -0,0 +1,6784 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.mtl b/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c8e350c197df3d77251bf120b65b97296472de2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.mtl
@@ -0,0 +1,16 @@
+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
+
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_2.jpg
+
diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adcf7622165e65bf3d3d8546f7ffb16dbc0ef88d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-10.obj
@@ -0,0 +1,4579 @@
+# SSTK version 0.8.0
+# 10
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.mtl b/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06fc1535343db267fa64e47af001bacf94f49a9e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_5.jpg
+
diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..815005180f7cee3c661ca97afb13a9888f22b067
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-12.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e26b7a81a3d1da01d40be5bc5ca5a9744a75c5d
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-13.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.mtl b/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06fc1535343db267fa64e47af001bacf94f49a9e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.mtl
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+map_Kd ../images/texture_5.jpg
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9165bb502f8831dbd91c3bb7257ddccbd3b4ab06
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-19.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-3.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-6.mtl b/data/PartNet-Mobility/Cart/100487/textured_objs/original-6.mtl
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index 0000000000000000000000000000000000000000..ac5750121615e132e3df50df33b10ae9597f6ada
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-6.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f56c7d7dd5805ed4c8711647f00eca1cabcc16b
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100487/textured_objs/original-6.obj
@@ -0,0 +1,7442 @@
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diff --git a/data/PartNet-Mobility/Cart/100487/textured_objs/original-9.obj b/data/PartNet-Mobility/Cart/100487/textured_objs/original-9.obj
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+				<mesh filename="textured_objs/original-758.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-694.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-425.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-817.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-805.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-333.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-577.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-645.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-680.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-440.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Cart/100488/mobility_v2.json b/data/PartNet-Mobility/Cart/100488/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fbecbbdfbb97504f8db217e0fe5c77981f5ccbb
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel"}], "jointData": {"axis": {"origin": [0.009435094544978692, -0.10205088919772032, -0.5354638342039155], "direction": [0.9998446884177462, 6.0109104845047144e-05, 0.01760623513128208]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel"}], "jointData": {"axis": {"origin": [-0.011858754772480676, -0.1020900039351274, 0.6816543955152766], "direction": [0.9998479780972904, 0.00015661201450330875, 0.017417814249580915]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel"}], "jointData": {"axis": {"origin": [-0.011858754772480676, -0.1020900039351274, 0.6816543955152766], "direction": [0.9998479780972904, 0.00015661201450330875, 0.017417814249580915]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel"}], "jointData": {"axis": {"origin": [0.009346579066668428, -0.10202074484446964, -0.5354076067742114], "direction": [-0.9998474204016111, -1.9818069415986738e-05, -0.01745049023004995]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": 5, "joint": "hinge", "name": "steering_wheel", "parts": [{"id": 5, "name": "wheel"}], "jointData": {"axis": {"origin": [0.19348149763726938, 0.3427430647002257, 0.29104441831839123], "direction": [-0.013371635668699033, -0.6428232144196071, 0.7658976125812641]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 5, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 6, "name": "base_body"}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100488/result.json b/data/PartNet-Mobility/Cart/100488/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df45abd4ebf2e0c257f997427e44718fbed3802
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-585", "original-551", "original-584", "original-552", "original-581", "original-549", "original-580", "original-550", "original-559", "original-547", "original-558", "original-557", "original-556", "original-555", "original-592", "original-593", "original-589", "original-588", "original-553", "original-554", "original-570", "original-573", "original-567", "original-597", "original-595", "original-606", "original-561", "original-576", "original-564", "original-599", "original-598", "original-607", "original-604", "original-605", "original-603"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-254", "original-246", "original-221", "original-245", "original-212", "original-243", "original-224", "original-195", "original-205", "original-206", "original-197", "original-229", "original-228", "original-198", "original-233", "original-199", "original-200", "original-232", "original-209", "original-247", "original-218", "original-215", "original-204", "original-241", "original-203", "original-240", "original-237", "original-202", "original-236", "original-201", "original-251", "original-255", "original-252", "original-249", "original-253"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-189", "original-180", "original-178", "original-181", "original-172", "original-171", "original-136", "original-137", "original-159", "original-144", "original-147", "original-150", "original-156", "original-153", "original-175", "original-142", "original-140", "original-141", "original-132", "original-133", "original-163", "original-164", "original-167", "original-134", "original-168", "original-135", "original-176", "original-139", "original-138", "original-130", "original-182", "original-184", "original-186", "original-187", "original-188", "original-190"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-324", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100488/result_original.json b/data/PartNet-Mobility/Cart/100488/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c026b2a48c1c3686ba881c70fc402a69edb765c4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-585", "original-551", "original-584", "original-552", "original-581", "original-549", "original-580", "original-550", "original-559", "original-547", "original-558", "original-557", "original-556", "original-555", "original-592", "original-593", "original-589", "original-588", "original-553", "original-554", "original-570", "original-573", "original-567", "original-597", "original-595", "original-606", "original-561", "original-576", "original-564", "original-599", "original-598", "original-607", "original-604", "original-605", "original-603"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-254", "original-246", "original-221", "original-245", "original-212", "original-243", "original-224", "original-195", "original-205", "original-206", "original-197", "original-229", "original-228", "original-198", "original-233", "original-199", "original-200", "original-232", "original-209", "original-247", "original-218", "original-215", "original-204", "original-241", "original-203", "original-240", "original-237", "original-202", "original-236", "original-201", "original-251", "original-255", "original-252", "original-249", "original-253"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-189", "original-180", "original-178", "original-181", "original-172", "original-171", "original-136", "original-137", "original-159", "original-144", "original-147", "original-150", "original-156", "original-153", "original-175", "original-142", "original-140", "original-141", "original-132", "original-133", "original-163", "original-164", "original-167", "original-134", "original-168", "original-135", "original-176", "original-139", "original-138", "original-130", "original-182", "original-184", "original-186", "original-187", "original-188", "original-190"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-324", "original-485", "original-502", "original-532", "original-486", "original-520", "original-519", "original-487", "original-492", "original-493", "original-494", "original-484", "original-515", "original-516", "original-489", "original-488", "original-523", "original-524", "original-491", "original-527", "original-528", "original-490", "original-482", "original-508", "original-505", "original-511", "original-496", "original-533", "original-541", "original-534", "original-530", "original-542", "original-499"]}, {"id": 5, "name": "wheel", "text": "wheel", "objs": ["original-124", "original-125"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Cart/100488/semantics.txt b/data/PartNet-Mobility/Cart/100488/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ab062f38953ddae814cd3d23ccb9d2f7cddda6be
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/semantics.txt
@@ -0,0 +1,6 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge steering_wheel
+link_5 free cart_body
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59ec2e3e729ef58ed93570d62b9ba061b4aaefe9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.8627450980392157 0.8627450980392157 0.8627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6362bfc6af8c82891d7193e80d79aecc301f7975
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-10.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o instance_3/_1_2_bolt_head/ID50#ID50
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-100.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-100.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f647996df2d2c6f6d730d8fad289e5fdc9d17cbf
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-100.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-101.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-101.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db043bf1897ee7da3478b071c7d9ec1e4bf77db
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-101.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-102.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-102.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b2be0e3e8bf67556513615ecdd991cefa0e26a8
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-102.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-103.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-103.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-104.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-104.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-105.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-105.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-106.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-106.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-106.obj
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index 0000000000000000000000000000000000000000..26b3b3b96a73fb8a2514fef5ae3ed7ad85b390a6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-107.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-107.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-107.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..691d6bd79daa3060f74dca9451b827a947ab7774
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-107.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94a85a60bfebe43ba6f5757bf7a33e4fb604dc4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-108.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-110.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-110.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-113.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-113.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-113.obj
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index 0000000000000000000000000000000000000000..2b376ebfca8840155c4389b61888253ed9cdfbc6
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf7db944d7f1b8792ec5dc776ba76bb8937814f7
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-117.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.obj
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index 0000000000000000000000000000000000000000..ef16ad22b77c1ed33d7c882a12975cc6add9af9d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-118.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8eb3c663063d574815419b2028ebcdb8f01d951
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-119.obj
@@ -0,0 +1,1422 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..78869346745d343e8a96a6f69cd37ea62b4491e4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd78a4c150cb585565274fc159dc202920f3535
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f4271464a4988f5686ecc8453702f6091391000
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-120.obj
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+# SSTK version 0.8.0
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+mtllib original-120.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57deb7e09530dfd2801bd5e58cc44188ed5e646e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-122.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-124.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-124.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-124.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec893138dafba6da3e4e03cac84761ea9ddcf87
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd011ebe4172c94f19568030729c38e0ba315106
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-125.obj
@@ -0,0 +1,1141 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..78869346745d343e8a96a6f69cd37ea62b4491e4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a139f0c6d1959b77fc358ed51ca6a94a7c744ab
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-130.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-130.mtl
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index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-130.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-130.obj
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index 0000000000000000000000000000000000000000..d015fac00378ddbeb180382c3f4c762fe9212b68
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13b6141044fc20fcca2f13f2fed0c76cb2831e3b
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-131.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-132.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-132.obj
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-134.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-134.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-14.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-151.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-151.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-153.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-153.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-154.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-154.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-156.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-156.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-156.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-156.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-164.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-164.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-166.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-166.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-166.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-166.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-166.obj
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index 0000000000000000000000000000000000000000..63f02e3bd2832d7695ec575bfc9d94c6aecc78e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-167.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-167.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-168.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-168.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-172.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-172.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-176.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-176.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-178.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-178.mtl
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index 0000000000000000000000000000000000000000..8bbc25bb03ccc527c8c70637d3b3b03f0f3885bc
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-178.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-178.obj
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index 0000000000000000000000000000000000000000..01e0155e3726f5da7fc40c6d002148c478f66580
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-180.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-180.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-181.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-181.mtl
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index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-181.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-181.obj
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index 0000000000000000000000000000000000000000..78698891f67384315440f4b58427b5fe64bea4e6
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-187.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-187.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-187.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-187.obj
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index 0000000000000000000000000000000000000000..e479cb49106a19dd4b9a177c79c58de3f718a98a
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-188.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-188.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-188.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-188.obj
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index 0000000000000000000000000000000000000000..eca2b13f04ee6e24d02add55777c3386a957e8ca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-189.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-189.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-189.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68fe7ebe7b9efbc887702acfcb5311c9944120fd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e09537bf31e6289b33bfff52b5548d4e8c0e45
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-190.obj
@@ -0,0 +1,3539 @@
+# SSTK version 0.8.0
+# 190
+mtllib original-190.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d6e0c2e01cfd877f1282078d7063c64573f4c40
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-195.obj
@@ -0,0 +1,408 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-196.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-196.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-196.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-196.obj
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index 0000000000000000000000000000000000000000..3f175147268ff01351bbdfb65c9a023dcf29679d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-197.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-197.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-197.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-197.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-198.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-198.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-198.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-198.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-199.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-199.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-199.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c3393472fc89cb5c7a5f8c1b5fa6e6703657685
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-199.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-2.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-2.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a046a8cc81dd1fd9b9c05dec622f9549edaeb3b9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-2.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-20.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..31a1eb9ded6e41282d0a0ec46a52711fba415282
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-200.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-200.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8bbc25bb03ccc527c8c70637d3b3b03f0f3885bc
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-200.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-200.obj
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index 0000000000000000000000000000000000000000..146ea19868ce7411fbf0f3361825a91da737530a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-200.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-201.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-201.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-201.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-201.obj
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index 0000000000000000000000000000000000000000..6b39b8efe2968a721a03d536bdff527a013668c0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-201.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-202.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-202.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-202.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b0dba67020ecfc996246a2013b29b60327ba346
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-202.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-218.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-218.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-219.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-219.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-222.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-222.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-224.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-224.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-225.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-225.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-227.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-227.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-229.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-229.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-23.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59ec2e3e729ef58ed93570d62b9ba061b4aaefe9
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-23.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..ba5f4acd70b0a97bde1a690ceb1c0079be3d071c
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-233.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-233.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-237.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-237.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-237.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-237.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-239.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-239.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-241.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-241.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-243.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-243.mtl
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index 0000000000000000000000000000000000000000..8bbc25bb03ccc527c8c70637d3b3b03f0f3885bc
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-243.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-243.obj
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index 0000000000000000000000000000000000000000..1b8a4b642ba2f645a91fa27b391bf9fd7a08592c
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-246.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-246.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-246.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cb8cfbebe7e181e6a9aa6aec31532f93e18dab2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..227eb91aa4361d7fd3082d23afcdd76fb737b1e9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-247.obj
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index 0000000000000000000000000000000000000000..8bbc25bb03ccc527c8c70637d3b3b03f0f3885bc
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-249.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-249.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-25.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-25.mtl
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index 0000000000000000000000000000000000000000..78869346745d343e8a96a6f69cd37ea62b4491e4
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-25.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..3c40264adc4b4411abdb632455ba1e0b8d0afb49
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-250.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-250.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-250.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350a26a7e703833ac1f6f980363dd6f69fc9dae5
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-250.obj
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index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-251.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-251.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58d665dea4a726ed7ab5845891f6e90f97d0066
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-252.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-253.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-253.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-253.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-253.obj
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index 0000000000000000000000000000000000000000..eb225f91fe73de1fb52131ebd7fd7cc3f72fffe6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f828d88810fe89e0eb73b8abb037dc59b9dc62d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-254.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f37249e1321a240a2e983e11683ae84c9594734
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-255.obj
@@ -0,0 +1,3539 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-264.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-264.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-264.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-264.obj
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index 0000000000000000000000000000000000000000..464617cacd2cdc7a59dfe0857ea7cbc01406a001
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-274.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-274.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-274.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-28.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59ec2e3e729ef58ed93570d62b9ba061b4aaefe9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-28.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d588f3ebe18b46b2244acdffbdb920d1ade89f21
--- /dev/null
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-282.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-282.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-286.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-286.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-289.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-289.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-290.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-290.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-297.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-297.mtl
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index 0000000000000000000000000000000000000000..d8ac69118a3ac9407a0a65e0beebb8bd17e5cef2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-297.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-297.obj
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index 0000000000000000000000000000000000000000..c27f567943db14bb67231000428362a7304c645e
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-298.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-298.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-298.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-298.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe6d3af4eb5dfb641474fcc13822ff283131e67b
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-299.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-299.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-299.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-299.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79b69a9882082858e841b0f3c97536bc14267991
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ee33c0a61aa5c766dee454abe169c20d1ef8cef
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cca9e4cdebd744eceda5fb2ff7d0b7124dd61736
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b291d8f525d3934c19250e12466964a369c57a9e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-308.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-309.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-309.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-31.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-31.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-31.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..10fe08d718923d68e3f24e4bd3a2ff25e4fbdcc7
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a8e4db1e3730232b22fe19e031c329ac89b8ef2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-311.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-312.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-312.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-312.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-312.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a89877f50bd98379b6d5e6e823a2de1c39aa2b5
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-317.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-317.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-317.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-317.obj
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index 0000000000000000000000000000000000000000..138c96665bd876f491900d5182feb3ab9b653117
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60e76c56e586528be94e2fc210dd724cb7a0f54e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-318.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-322.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-322.mtl
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index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-322.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-322.obj
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index 0000000000000000000000000000000000000000..e4de353257a6306e33cf30b669859e0dea0aad4f
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd7050c3786a5fb40e75866b26a668a78b6c9a4f
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-323.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d48b21f832ce8811e3cf69b76135779f09266907
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-324.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb8c5d6c92218fd8789697a9325b6521be1032
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-325.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997e267ebae3ce914a2fba7dbc900e9dd0d8d6f1
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-328.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2865cfdce0a84e9e73b5f2b126e04403c5f444e2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-329.obj
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-330.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-330.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-330.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-330.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-331.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-331.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-331.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-331.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-332.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-332.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-332.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-332.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6371abc2b3e94b65f708fa9fbfd241f8d6bb2854
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-336.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-339.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-339.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-34.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-34.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-341.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-341.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-341.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-341.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-341.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e6a4374deb1bf91ac7211c032bc0120d63d1e75
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-342.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-342.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-342.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-342.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-342.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb443fdc66bd32a30bc8ce6cbf86b9cc966aaf3f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-343.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-343.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-343.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-343.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-344.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-344.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-344.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-344.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c30511e35ecec8a295588a616ff8426eac62185d
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-345.obj
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index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-348.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-348.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-349.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-349.mtl
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index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-349.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-349.obj
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index 0000000000000000000000000000000000000000..296c1e1c9f1f682b6335db889f2ad3c43d3f6b94
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-349.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-350.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-350.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-350.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-350.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-350.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2db0ee7dd43585be89f18f2073b96b6700e671
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-355.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-355.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-355.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-355.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-355.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86470fd484cc2a31381bb2ef61833ab17ceb00c6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c199250cbd0226df8011f71cf1b853b52f83583
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-356.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-358.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-358.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-358.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-358.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-359.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-359.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-359.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-359.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-36.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-36.mtl
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index 0000000000000000000000000000000000000000..59ec2e3e729ef58ed93570d62b9ba061b4aaefe9
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-36.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b8d6c53a8e0c907140b1d90c1da50efcae3b5f
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-363.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.obj
new file mode 100644
index 0000000000000000000000000000000000000000..175b26fe09e029805d1c47a4964ee4760a7530ab
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-364.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-366.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-366.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-366.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-366.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-366.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1397d0f5450e13fe93c385fd9335540c6a722772
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5d5d6789b07ce48183a9958dc3a26b61b9d146
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-367.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-370.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-370.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-370.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-370.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-370.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30394f5409e4ecc5c0c8ab02d26a732324fecc8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-371.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-371.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-371.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-371.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160e7d7f0850e770db1862f9e6b584b05ba12aa2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-372.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-372.mtl
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index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-372.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-372.obj
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index 0000000000000000000000000000000000000000..c0aea734d3ce828725be6eaf7be2f2f46da4dbee
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdc0167f85556b9290e734edd8886ce739dc125b
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-373.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1aca7bead335471553372829b2143f9ca93a6ea8
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-374.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.obj
new file mode 100644
index 0000000000000000000000000000000000000000..983bd6f16d122c5598a5444c18e006e12b9fffb9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-375.obj
@@ -0,0 +1,1496 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-376.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-376.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-376.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-378.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-378.mtl
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index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-380.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-380.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-380.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-380.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db466f1be9a4f5ed47bffea2a1c7ef9661598d10
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-380.obj
@@ -0,0 +1,493 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-383.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-383.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be39020eccd235841bb94a20ade144277311bde9
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-388.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-389.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-389.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-39.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-392.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-392.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-392.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-392.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-393.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-393.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8ac69118a3ac9407a0a65e0beebb8bd17e5cef2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-393.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-393.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-393.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40dcaf18100681f01102e2e3edbdf6c10750d6e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-396.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-396.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-396.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-396.obj
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index 0000000000000000000000000000000000000000..6f6749c4c6ede74d7f3a14a49cacae7fba996587
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-397.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-397.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-397.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-397.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-397.obj
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index 0000000000000000000000000000000000000000..7b0f20a7608a34de3f9a45ab9943c326ca1f09d4
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-398.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-398.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..78869346745d343e8a96a6f69cd37ea62b4491e4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ef8e05c85940f02ba44a47f4789d09ede64da95
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c37ce8bf5c98c83b4ba49fe52613928526cc5f2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-400.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7197187767eb9752d7fb3ab257316e3792668238
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a6f3d3ce68c6b6942b91eb0678fd46a12e54d5
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-401.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-402.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-402.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-402.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-402.obj
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index 0000000000000000000000000000000000000000..0d4d9ecc3010f86ea1c4465b29a80d83b75bd373
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9968c3e3b2c28b633d20b6436b5ad4f9c8000e87
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-404.obj
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+# SSTK version 0.8.0
+# 404
+mtllib original-404.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.7529411764705882 0.7529411764705882 0.7529411764705882 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.obj
new file mode 100644
index 0000000000000000000000000000000000000000..898acbe2e40325a3d433f9b3f6f8288bfd047be6
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-405.obj
@@ -0,0 +1,319 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-406.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-406.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-406.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-406.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-406.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d910fcaf014f01b8a4731b7ddcc76994d35ce30
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-409.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-409.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-409.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-409.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-41.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-41.mtl
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index 0000000000000000000000000000000000000000..59ec2e3e729ef58ed93570d62b9ba061b4aaefe9
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-41.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-41.obj
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index 0000000000000000000000000000000000000000..ad773824b96fda19844fda2759c8d04d0ca3f999
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7197187767eb9752d7fb3ab257316e3792668238
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9dd029733102a9e81577e6dbf0e002c930d17fb
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-410.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-411.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-411.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-411.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-411.obj
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index 0000000000000000000000000000000000000000..74c853dab842b4fb9cf20887d61270ef520bbff5
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.obj
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index 0000000000000000000000000000000000000000..b60eb9633c9e3ef6627e6870582e94994866cca0
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-413.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-414.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-414.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-414.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-414.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-414.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06f7b7ff022e9ec1f89bddf59258089df48361a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28572936bd57d75a2a54834384a52186127fc90
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-416.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-417.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-417.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a176354b4c08793766a6339a950829a46bee32a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-417.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-417.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab89445be82fc314aaf44ab5f6b709e81c60c7cd
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-417.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-418.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-418.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-418.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-418.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eef0cae1b5ef20733790fe18dfa6a9c0694e98a
--- /dev/null
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-419.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-419.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-421.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-421.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-421.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-421.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-422.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-422.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-422.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-422.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-422.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4122e42e2b26440659112a33b46fa6787123c2d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-425.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-425.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-425.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-425.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92ed8e7d6b4da8780da0b1385cd8a803ab6f5e63
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f53755a3e58d3b37bcc79e48b5baa4fb74a88b4
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-426.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb19bb490598999fe9fd057f897b3c2f53b8600
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-427.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3ce84c17302ece737bde2bc7486d7f284d6a982
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-428.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a323adabf863e38dbff49f14f0299371ed4dae5b
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-429.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-43.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-43.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-43.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..453f8c230e5f3fede951703d62eb2cad56ba5a5e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22f12af63a8dc692f641dc0e1b96bcbec95d9b6f
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-430.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.7529411764705882 0.7529411764705882 0.7529411764705882 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4eaf820db773f368fc76458631481184b420823
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-431.obj
@@ -0,0 +1,301 @@
+# SSTK version 0.8.0
+# 431
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-433.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-433.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-433.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-433.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-433.obj
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index 0000000000000000000000000000000000000000..37d29182e3e0aa944fd449e44b914238cee58d14
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-434.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-434.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-434.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-434.obj
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index 0000000000000000000000000000000000000000..9207eaab3ec60f594ad8d3e5e3d3501e72b1ba51
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-434.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-435.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-435.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-435.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-435.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-435.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4853b5ca26962aa367fa4e3625f970db51c9258e
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef6298993dc8eb32d7af92b230eef9d735c55ed
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-437.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee4cb805bff0ef04eacf183e2d68d264a1082090
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484c3e0168a2f5d8e48e3502a32695ae6046bf5a
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-438.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-44.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-44.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..418afebdb5e0849e04ca74c455593fc3381350d6
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6008002bdbe4fae559118655172b58d4cb25c5aa
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-440.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-441.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-441.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-441.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-441.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-441.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6bb0b57346995be9c30b719231886ee4d8b289f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-443.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-443.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e96ca9d26a9c0f2b3bba2093df17126ff00670
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-447.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d8ac69118a3ac9407a0a65e0beebb8bd17e5cef2
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea509afe03249139641098fec396611b839fb5
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-448.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-449.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-449.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-449.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-449.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc97aa941f2439e092ddf6fcbb4621d6b2803a1
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-450.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-450.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cbb24171806ec1be715f75c6888cd8e340db820e
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-450.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-450.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97363270143be1580db2e49f9553e654d3642c9e
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-451.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-452.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-452.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-452.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-452.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-452.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0d76c46ebf306a372725c82ed3b02f7621af659
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-453.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-453.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-455.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-455.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-456.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-456.mtl
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index 0000000000000000000000000000000000000000..7197187767eb9752d7fb3ab257316e3792668238
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-456.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-456.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-457.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-457.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-459.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-459.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-459.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-459.obj
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index 0000000000000000000000000000000000000000..2a01e9f6374db108294be9be1601be9c02c110a6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b46b87a3668e6d0e7fe0e84fc5c9f859f24df9de
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1c603e3349f532628db0b7e54cb93c5eccf38bb
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-460.obj
@@ -0,0 +1,319 @@
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-461.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-461.obj
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index 0000000000000000000000000000000000000000..c523454844eb6a604847ec174dc871bd435ce0b3
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-463.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-463.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49d2cd54cc4aa053a0659c4f7386350862855c97
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-463.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-464.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-464.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-464.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-464.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-465.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-465.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7197187767eb9752d7fb3ab257316e3792668238
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-465.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-465.obj
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index 0000000000000000000000000000000000000000..12594cfc2f9be0ec5fa67b645cc4ee09297550a4
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-466.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-466.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-466.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-466.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-468.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-468.mtl
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-468.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-468.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f28989bc05b5837252df456c97f9232ea8fb8d7
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-468.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-469.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-469.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-469.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-469.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c288d0f1316461168a9a7fc57f78488178fc28b5
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.mtl
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54b3ad8287b560aa201bca68a0ebe11e627ab715
--- /dev/null
+++ b/data/PartNet-Mobility/Cart/100488/textured_objs/original-471.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-472.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-472.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6a176354b4c08793766a6339a950829a46bee32a
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-472.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-472.obj
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index 0000000000000000000000000000000000000000..b2f33e34dac64a3dbd5a4affb87bcfddcdffd609
--- /dev/null
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-473.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-473.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e928cdb79529bfa75b74e8ec04490f8cab2e9270
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-473.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-473.obj
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index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-474.obj b/data/PartNet-Mobility/Cart/100488/textured_objs/original-474.obj
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diff --git a/data/PartNet-Mobility/Cart/100488/textured_objs/original-476.mtl b/data/PartNet-Mobility/Cart/100488/textured_objs/original-476.mtl
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