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diff --git a/data/PartNet-Mobility/Faucet/960/textured_objs/original-3.mtl b/data/PartNet-Mobility/Faucet/960/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/960/textured_objs/original-3.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/Faucet/960/textured_objs/original-3.obj b/data/PartNet-Mobility/Faucet/960/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7323cb653815e5a969a98478f55411e29aa4cf6
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/960/textured_objs/original-3.obj
@@ -0,0 +1,760 @@
+# SSTK version 0.8.0
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+usemtl material_1_0
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+f 36//51 37//51 18//51
+f 51//51 36//51 27//51
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+f 67//51 68//51 40//51
+f 94//51 68//51 67//51
+f 80//51 94//51 67//51
+f 93//51 94//51 80//51
diff --git a/data/PartNet-Mobility/Faucet/960/tree_hier.html b/data/PartNet-Mobility/Faucet/960/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..a524bf12c027173d41f4f9f02910f26f4337f0c8
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/960/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 faucet Faucet</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_faucet Normal Faucet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 switch Switch</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 frame Frame</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 spout Spout</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>11 surface_base Surface Base</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 vertical_support Vertical Support</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 horizontal_support Horizontal Support</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 head Head</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 mouth Mouth</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 tube Tube</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 other rectangle (other)</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 other_leaf other_leaf</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/960/tree_hier_after_merging.html b/data/PartNet-Mobility/Faucet/960/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..86a795dc3d74f32ec029808da669870ed7c0283f
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/960/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 faucet faucet</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_faucet normal_faucet</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 switch switch</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 frame frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 spout spout</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 surface_base surface_base</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 vertical_support vertical_support</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 horizontal_support horizontal_support</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 tube tube</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/bounding_box.json b/data/PartNet-Mobility/Faucet/991/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c661024aaceda1da45e223a022107fb602ca92c
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.223037, -0.730835, -0.462082], "max": [0.223458, 0.860819, 1.018515]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/meta.json b/data/PartNet-Mobility/Faucet/991/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f87603f4a314b20ff7f647f7d7e97b64d65daea6
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/meta.json
@@ -0,0 +1 @@
+{"model_id": "9d98b2c3591441a83321831d2245cf06", "anno_id": "991", "user_id": "zhouwenxian", "time_in_sec": "484", "version": "7", "model_cat": "Faucet"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/mobility.urdf b/data/PartNet-Mobility/Faucet/991/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4aa956f80ee42956dd28c3020923ee760673620a
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9d98b2c3591441a83321831d2245cf06">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="switch-2">
+			<origin xyz="-0.00021075525256531238 0 0.15262788376216663"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.00021075525256531238 0 0.15262788376216663"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.00021075525256531238 0 -0.15262788376216663"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.5707963267948966" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="surface_base-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="surface_base-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="vertical_support-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="tube-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mouth-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.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/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.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/Faucet/991/mobility_v2.json b/data/PartNet-Mobility/Faucet/991/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c61662e204fbe8f27568a1b409712246510f99f0
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"switch","parts":[{"id":2,"name":"switch","children":[]}],"jointData":{"axis":{"origin":[0.00021075525256531238,0,-0.15262788376216663],"direction":[0,1,0]},"limit":{"a":-90,"b":90,"noLimit":false}}},{"id":1,"parent":-1,"joint":"static","name":"frame","parts":[{"id":8,"name":"surface_base","children":[]},{"id":9,"name":"vertical_support","children":[]},{"id":11,"name":"other_leaf","children":[]},{"id":5,"name":"tube","children":[]},{"id":6,"name":"head","children":[]},{"id":7,"name":"mouth","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/0.png b/data/PartNet-Mobility/Faucet/991/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..df540357b89d5de67fcfbea3ae16b103802f833f
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb47da7352e23527e172fabefc96dacd0f9118944d8d1a34724ece46cff68fce
+size 27347
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/0.txt b/data/PartNet-Mobility/Faucet/991/parts_render/0.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/0.txt
@@ -0,0 +1 @@
+0 faucet Faucet
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/1.png b/data/PartNet-Mobility/Faucet/991/parts_render/1.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/1.png
@@ -0,0 +1,3 @@
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+size 27347
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/1.txt b/data/PartNet-Mobility/Faucet/991/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/1.txt
@@ -0,0 +1 @@
+1 normal_faucet Normal Faucet
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/10.png b/data/PartNet-Mobility/Faucet/991/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..841e17cdc4a2ae9ab02470ad6121fcf21ef75096
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fc8223c803d6d1d49f34d8d961e078bf98b6adb7e323498d545a7e781f82614
+size 20321
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/10.txt b/data/PartNet-Mobility/Faucet/991/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f70eca791326630a266366cdcaf36689e97a5e48
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/10.txt
@@ -0,0 +1 @@
+10 other Cylinder (other)
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/11.png b/data/PartNet-Mobility/Faucet/991/parts_render/11.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 20321
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/11.txt b/data/PartNet-Mobility/Faucet/991/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd19c70978a16ee64b28677a45bbd2f6c851e76a
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/11.txt
@@ -0,0 +1 @@
+11 other_leaf other_leaf
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/2.png b/data/PartNet-Mobility/Faucet/991/parts_render/2.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 20847
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/2.txt b/data/PartNet-Mobility/Faucet/991/parts_render/2.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/2.txt
@@ -0,0 +1 @@
+2 switch Switch
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/3.png b/data/PartNet-Mobility/Faucet/991/parts_render/3.png
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24675
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/3.txt b/data/PartNet-Mobility/Faucet/991/parts_render/3.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/3.txt
@@ -0,0 +1 @@
+3 frame Frame
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/4.png b/data/PartNet-Mobility/Faucet/991/parts_render/4.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22594
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/4.txt b/data/PartNet-Mobility/Faucet/991/parts_render/4.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/4.txt
@@ -0,0 +1 @@
+4 spout Spout
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/5.png b/data/PartNet-Mobility/Faucet/991/parts_render/5.png
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/parts_render/5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 22046
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/5.txt b/data/PartNet-Mobility/Faucet/991/parts_render/5.txt
new file mode 100644
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/5.txt
@@ -0,0 +1 @@
+5 tube Tube
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/6.png b/data/PartNet-Mobility/Faucet/991/parts_render/6.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/6.txt b/data/PartNet-Mobility/Faucet/991/parts_render/6.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6f4593fb324808aaff0fc3eed1e65c63cef2a09c
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/6.txt
@@ -0,0 +1 @@
+6 head Head
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/7.png b/data/PartNet-Mobility/Faucet/991/parts_render/7.png
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@@ -0,0 +1,3 @@
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+size 21798
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/7.txt b/data/PartNet-Mobility/Faucet/991/parts_render/7.txt
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/7.txt
@@ -0,0 +1 @@
+7 mouth Mouth
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/8.png b/data/PartNet-Mobility/Faucet/991/parts_render/8.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/8.txt b/data/PartNet-Mobility/Faucet/991/parts_render/8.txt
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/8.txt
@@ -0,0 +1 @@
+8 surface_base Surface Base
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/9.png b/data/PartNet-Mobility/Faucet/991/parts_render/9.png
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/Faucet/991/parts_render/9.txt b/data/PartNet-Mobility/Faucet/991/parts_render/9.txt
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render/9.txt
@@ -0,0 +1 @@
+9 vertical_support Vertical Support
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/0.png b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/0.png
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/0.png
@@ -0,0 +1,3 @@
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 faucet faucet
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/1.png b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/1.png
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diff --git a/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/1.txt b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/1.txt
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+++ b/data/PartNet-Mobility/Faucet/991/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
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index 0000000000000000000000000000000000000000..c54e361812b7ee60de0224928ce5298ee017935a
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diff --git a/data/PartNet-Mobility/Faucet/991/point_sample/pts-10000.pts b/data/PartNet-Mobility/Faucet/991/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..1f04f50320e081468b6eaa47197a6fde58415897
--- /dev/null
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diff --git a/data/PartNet-Mobility/Faucet/991/point_sample/pts-10000.txt b/data/PartNet-Mobility/Faucet/991/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a0723b5fe2fb5f9d2d835d2479de57d35cff50fc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e1fed21439fb9c46b6f88a6d11402473ae0a2cb
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f7fd1902397169b257064e366bcff45d04626b1c
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99b5c57e11f42f827d2091cd404d15d8578d9236
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Faucet/991/result.json b/data/PartNet-Mobility/Faucet/991/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..092c391f8ffe0a2f7ea193fb463ad5e5b2d1f154
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/result.json
@@ -0,0 +1 @@
+[{"text": "Faucet", "children": [{"text": "Normal Faucet", "children": [{"text": "Switch", "objs": ["original-2"], "id": 2, "name": "switch"}, {"text": "Frame", "children": [{"text": "Surface Base", "objs": ["new-7", "new-6"], "id": 8, "name": "surface_base"}, {"text": "Vertical Support", "objs": ["new-5"], "id": 9, "name": "vertical_support"}, {"text": "Cylinder (other)", "children": [{"text": "other_leaf", "objs": ["original-4"], "id": 11, "name": "other_leaf"}], "id": 10, "name": "other"}], "id": 3, "name": "frame"}, {"text": "Spout", "children": [{"text": "Tube", "objs": ["new-1"], "id": 5, "name": "tube"}, {"text": "Head", "objs": ["new-0"], "id": 6, "name": "head"}, {"text": "Mouth", "objs": ["original-3"], "id": 7, "name": "mouth"}], "id": 4, "name": "spout"}], "id": 1, "name": "normal_faucet"}], "id": 0, "name": "faucet"}]
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diff --git a/data/PartNet-Mobility/Faucet/991/result_after_merging.json b/data/PartNet-Mobility/Faucet/991/result_after_merging.json
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--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/semantics.txt b/data/PartNet-Mobility/Faucet/991/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e19647bb1fed97fbccd79e54e4613a4f0f2408ec
--- /dev/null
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-0.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/new-0.mtl
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-0.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-1.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb2be4c70fe212d9da2ddd4280553d859c023f74
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-1.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f325cc052c970e7934124c8c019275541a8200c0
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-5.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb2be4c70fe212d9da2ddd4280553d859c023f74
--- /dev/null
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-5.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a58d1b12958e61e2e0c7d68d8be3044c9911dcac
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/new-7.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb2be4c70fe212d9da2ddd4280553d859c023f74
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f77a972096b89de8ac99d9078a54ed522cc81dc1
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-2.obj
@@ -0,0 +1,2176 @@
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1437e3d2d375dbc71c91142baf43135f94d58d
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-3.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o nozzle/object__5_1/object__8/mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.mtl b/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94165e9e152cb84578ada763974350991349e760
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.obj b/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8aa60e83fc240d0e4e2d2a7fc4a21491482a7f
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/textured_objs/original-4.obj
@@ -0,0 +1,356 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o pop_up/object__7/object__11/mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/data/PartNet-Mobility/Faucet/991/tree_hier.html b/data/PartNet-Mobility/Faucet/991/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..e21bbf6c43b227c40190dcfbf9dd69d60b7218ab
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 faucet Faucet</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_faucet Normal Faucet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 switch Switch</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 frame Frame</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 spout Spout</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>8 surface_base Surface Base</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 vertical_support Vertical Support</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 other Cylinder (other)</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 tube Tube</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 head Head</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 mouth Mouth</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 other_leaf other_leaf</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Faucet/991/tree_hier_after_merging.html b/data/PartNet-Mobility/Faucet/991/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..99d380b31575f420441906977320b8849179332d
--- /dev/null
+++ b/data/PartNet-Mobility/Faucet/991/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 faucet faucet</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_faucet normal_faucet</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 switch switch</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 frame frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 spout spout</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 surface_base surface_base</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 vertical_support vertical_support</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 tube tube</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100520/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100520/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/bounding_box.json
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+{"min": [-0.415614, -0.721947, -0.515286], "max": [0.421715, 0.679017, 0.594367]}
\ No newline at end of file
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new file mode 100644
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+++ b/data/PartNet-Mobility/FoldingChair/100520/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:866862b9e2e692a1aa55309e85eae8df94e14017ad8944e82e48ae99f8d03695
+size 44450
diff --git a/data/PartNet-Mobility/FoldingChair/100520/images/texture_1.jpg b/data/PartNet-Mobility/FoldingChair/100520/images/texture_1.jpg
new file mode 100644
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+++ b/data/PartNet-Mobility/FoldingChair/100520/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/meta.json b/data/PartNet-Mobility/FoldingChair/100520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e69c64da1b84a3a6dd758b99002e3de93e69b5e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "1da9942b2ab7082b2ba1fdc12ecb5c9e", "version": "1", "anno_id": "520", "time_in_sec": "48"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100520/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100520/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ce99857e5156226b857e04648c6458952fe2b5b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/mobility.urdf
@@ -0,0 +1,392 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1da9942b2ab7082b2ba1fdc12ecb5c9e">
+	<link name="base"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
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+		</visual>
+		<visual name="seat-1">
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+				<mesh filename="textured_objs/original-36.obj"/>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
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+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.05673187627388845 -0.10696075021242733"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.05673187627388845 -0.10696075021242733"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.05673187627388845 0.10696075021242733"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.211681228127215"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-33.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-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.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-34.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-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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-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-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-33.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-39.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-15.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-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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/FoldingChair/100520/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100520/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2cbcbafd5af58fb11b471ec9753a1628434c3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.05673187627388845, 0.10696075021242733], "direction": [1, 0, 0]}, "limit": {"a": -360, "b": -486.72, "noLimit": false}}}, {"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/FoldingChair/100520/result.json b/data/PartNet-Mobility/FoldingChair/100520/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ddc9ccfc306ed96a594dc5b2c4e15e557fecd4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-37", "original-36", "original-38"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-28", "original-22", "original-26", "original-4", "original-3", "original-33", "original-2", "original-16", "original-8", "original-13", "original-39", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-34", "original-18", "original-17", "original-12", "original-24", "original-20", "original-32", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100520/result_original.json b/data/PartNet-Mobility/FoldingChair/100520/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3762cb7129658096ea116421bdd74f47af0295
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-37", "original-36", "original-38"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100520/semantics.txt b/data/PartNet-Mobility/FoldingChair/100520/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85d3fa7b657acc89da6960375a0b920aca01fb90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5529411764705883 0.5529411764705883 0.5529411764705883 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b5e5dd1ffd81d6094e2dcb4e73eed727a20674
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-10.obj
@@ -0,0 +1,272 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID61
+v 0.418777 0.003671 0.065741
+v 0.418777 0.016686 0.050461
+v 0.418777 0.025305 0.074924
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+v 0.418777 0.077136 -0.107333
+v 0.418777 0.017819 0.052464
+v 0.418777 0.019432 0.054105
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85d3fa7b657acc89da6960375a0b920aca01fb90
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-11.obj
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..30956874afaf8e4f4654fb412fef4431f7611204
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ced33055a6f90f4d60c7143e4910b53ec73bb5
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c26329b5aa8a73bd4b9ba78011c7e1c9a641c6b2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abc6a50c96c64f7b6f4f328d8a50684bf06a8438
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..1b45f4b93a637c8550cdfb123d45c9bdb850bcdd
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..57e1af32b976e733150db30270452c197697c9df
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-20.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-20.mtl
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index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-20.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..ed76a6e9812ac8dfe6309e13d2c6aa0a094e0803
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85d3fa7b657acc89da6960375a0b920aca01fb90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..990bd8ebb3f415a616aa9e5b73a657216d5da1bb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-21.obj
@@ -0,0 +1,100 @@
+# SSTK version 0.8.0
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index 0000000000000000000000000000000000000000..85d3fa7b657acc89da6960375a0b920aca01fb90
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-24.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-28.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-28.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-29.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-29.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-29.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-3.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-3.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-3.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-31.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-31.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c6fe2c79f85988770345e5565496fd806cd1d1c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-32.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-36.obj
@@ -0,0 +1,1712 @@
+# SSTK version 0.8.0
+# 36
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-39.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-39.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-39.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-4.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-6.obj
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+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-7.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a83fc6e18495816df12741b1c8e34ef14cd37fd0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-7.obj
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+vn 0 -0.7071067811865474 -0.7071067811865477
+vn 0 -0.9659258358036644 -0.2588190095935618
+vn 0 0.9659258358036644 0.2588190095935618
+vn 0 0.8660254028383289 0.5000000016387103
+vn 0 -0.8660254028383289 -0.5000000016387103
+usemtl material_0_2
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+f 3//4 2//4 1//3
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diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.5529411764705883 0.5529411764705883 0.5529411764705883 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dfef4e9839083ed4d0b164784c7db6d03f3fcab
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100520/textured_objs/original-8.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID53
+v 0.404088 -0.391280 -0.321249
+v 0.404088 -0.383251 -0.321249
+v 0.404088 -0.387266 -0.320721
+v 0.404088 -0.395022 -0.322799
+v 0.404088 -0.379510 -0.322799
+v 0.404088 -0.398234 -0.325264
+v 0.404088 -0.376297 -0.325264
+v 0.404088 -0.400699 -0.328477
+v 0.404088 -0.373832 -0.328477
+v 0.404088 -0.402249 -0.332218
+v 0.404088 -0.372283 -0.332218
+v 0.404088 -0.402777 -0.336233
+v 0.404088 -0.371754 -0.336233
+v 0.404088 -0.402249 -0.340247
+v 0.404088 -0.372283 -0.340247
+v 0.404088 -0.400699 -0.343988
+v 0.404088 -0.373832 -0.343988
+v 0.404088 -0.398234 -0.347201
+v 0.404088 -0.376297 -0.347201
+v 0.404088 -0.395022 -0.349666
+v 0.404088 -0.379510 -0.349666
+v 0.404088 -0.391280 -0.351216
+v 0.404088 -0.383251 -0.351216
+v 0.404088 -0.387266 -0.351744
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_2
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 2//1 1//1 4//1
+f 4//2 1//2 2//2
+f 2//1 4//1 5//1
+f 5//2 4//2 2//2
+f 5//1 4//1 6//1
+f 6//2 4//2 5//2
+f 5//1 6//1 7//1
+f 7//2 6//2 5//2
+f 7//1 6//1 8//1
+f 8//2 6//2 7//2
+f 7//1 8//1 9//1
+f 9//2 8//2 7//2
+f 9//1 8//1 10//1
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+f 9//1 10//1 11//1
+f 11//2 10//2 9//2
+f 11//1 10//1 12//1
+f 12//2 10//2 11//2
+f 11//1 12//1 13//1
+f 13//2 12//2 11//2
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+f 14//2 12//2 13//2
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+f 15//2 14//2 13//2
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+f 16//2 14//2 15//2
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+f 17//2 16//2 15//2
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+f 18//2 16//2 17//2
+f 17//1 18//1 19//1
+f 19//2 18//2 17//2
+f 19//1 18//1 20//1
+f 20//2 18//2 19//2
+f 19//1 20//1 21//1
+f 21//2 20//2 19//2
+f 21//1 20//1 22//1
+f 22//2 20//2 21//2
+f 21//1 22//1 23//1
+f 23//2 22//2 21//2
+f 23//1 22//1 24//1
+f 24//2 22//2 23//2
diff --git a/data/PartNet-Mobility/FoldingChair/100521/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100521/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d7178fbb7cd9ec2d81e5e0c2eac123b4c49eb6
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.45964, -0.84662, -0.457125], "max": [0.437486, 0.768411, 0.566728]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100521/meta.json b/data/PartNet-Mobility/FoldingChair/100521/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e5341e30d875791862a10308eb1cd2eb799eac2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "1f82011c2303fc7babb8f41baefc4b12", "version": "1", "anno_id": "521", "time_in_sec": "17"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100521/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100521/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..baf470464eb97ca92f745f7d86adfff94d77e59f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/mobility.urdf
@@ -0,0 +1,248 @@
+<?xml version="1.0" ?>
+<robot name="partnet_1f82011c2303fc7babb8f41baefc4b12">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.05398947114928498 0.09424079913683744"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.05398947114928498 0.09424079913683744"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.05398947114928498 -0.09424079913683744"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5519467708733579"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-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-23.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-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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-21.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-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-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-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-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.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/FoldingChair/100521/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100521/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d42b49657713004bead7199d2065df82a7ec08c7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.05398947114928498, -0.09424079913683744], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 88.92, "noLimit": false}}}, {"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/FoldingChair/100521/result.json b/data/PartNet-Mobility/FoldingChair/100521/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f367735d6cb24008b663963ebac955f0a8af43bd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "original-22", "original-3", "original-2", "original-16", "original-8", "original-6", "original-15", "original-23", "original-11", "original-18", "original-25", "original-12", "original-24", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100521/result_original.json b/data/PartNet-Mobility/FoldingChair/100521/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3efc453a2f861776adfe1039e1a3e0da7bb89f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100521/semantics.txt b/data/PartNet-Mobility/FoldingChair/100521/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.33725490196078434 0.33725490196078434 0.33725490196078434 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fb8567c647c35e9fa87ac056d1e31054d1c3237
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-10.obj
@@ -0,0 +1,624 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o Group8/mesh14/mesh14-geometry#mesh14-geometry
+v -0.447844 -0.095552 0.025435
+v -0.448532 -0.095011 0.025907
+v -0.447844 -0.095011 0.025907
+v -0.448532 -0.095552 0.025435
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new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-11.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..e6e31f6c4116c5c3e87dae1e326e5c4ad6dc566d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45dfff7385938d60b0c028acd5810aedafe0e59a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caf8ba41679b9ea066e1616dcf202fbe0c7be400
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-14.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..decce96078c5373333efd33dab11e294be70ad9e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae4afbcb41afcb579bffa73f491b2939062bde6
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-16.obj
@@ -0,0 +1,142 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5008dc94a0802e6ecf737fdeb7a08c7301b4cbb4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..987741521c0cd45e42723442d6e954f9289c9cc0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-19.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o Group19/mesh27/mesh27-geometry#mesh27-geometry
+v 0.404322 0.049144 -0.071651
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f830562d364deffe7a10a9c13b6098e7f9c31f3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-2.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Component_2_1/Component_2/mesh1/mesh1-geometry#mesh1-geometry
+v 0.398157 -0.643103 0.327679
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ac29b341534ae5b9c105df146f0c722807b67b9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-21.obj
@@ -0,0 +1,70 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o Group22/mesh28/mesh28-geometry#mesh28-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef2b5e037c076a73967ab5cbcc73824095378a28
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-22.obj
@@ -0,0 +1,70 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Group23/mesh29/mesh29-geometry#mesh29-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edcd78468629e153356b607c84fd92ae40326399
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-23.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o Component_1_1/Component_1/mesh30/mesh30-geometry#mesh30-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a547911daaee4972a3b5500fd42168f658ae05fc
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-24.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o Component_1_2/Component_1/mesh30/mesh30-geometry#mesh30-geometry
+v 0.398157 0.040043 -0.080372
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36756cb9588656e18985ce3eabd31154c57f2c25
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-25.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..189f4ed9c77b60b46108ffc6a79ec003c10d97c5
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-3.obj
@@ -0,0 +1,358 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
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index 0000000000000000000000000000000000000000..57b84706be86d7eda7e9fc7f76c0150e313f9e2d
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f319148ed8a52582980cb0c46d184eba0b356c73
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..849b6ff6258eda6f255f9a98178000a317116947
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-7.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b7fb088dd5a2b4f0a42e742ed954964d73e0e3ec
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100521/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c55f3945a1a5180ea79f16c09102ae17d06a5bd0
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/meta.json b/data/PartNet-Mobility/FoldingChair/100523/meta.json
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100523/mobility.urdf
new file mode 100644
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+		</visual>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.15561116164441757 0.037034204582683555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.15561116164441757 -0.037034204582683555"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="0.37070793312359573"/>
+	</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-2.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">
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+			<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>
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+			</geometry>
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+		<visual name="base_body-2">
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+			<geometry>
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+		<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>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
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+		<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-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-7.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-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/FoldingChair/100523/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100523/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1937d5e3e10ea4fa7d7cabbc56110c10f98358c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.15561116164441757, -0.037034204582683555], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -21.24000000000001, "noLimit": false}}}, {"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/FoldingChair/100523/result.json b/data/PartNet-Mobility/FoldingChair/100523/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d899b9321313f9f189ce51c6702542caba5590f1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3", "original-11", "original-1", "original-12", "original-13", "original-14", "original-15", "original-16", "original-20"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-2", "original-8", "original-9", "original-5", "original-6", "original-18", "original-17", "original-7", "original-10", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100523/result_original.json b/data/PartNet-Mobility/FoldingChair/100523/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f9f3e74569e3284f512d37bc50f8e8605eea77
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3", "original-11", "original-1", "original-12", "original-13", "original-14", "original-15", "original-16", "original-20"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100523/semantics.txt b/data/PartNet-Mobility/FoldingChair/100523/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690e9818480ec33bc0cfa9c40ab5253c7f1d4d20
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e2bf5054eb18f51709375a7f5721a4230fdb55b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed463caecc62f877c8574b9e5ee7819afe48d5d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137b857bbc30c80a043912c6192028f697be502d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-12.obj
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+# SSTK version 0.8.0
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+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.mtl
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+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3d2baaed2e53d7a3130f29aabb58e444f1a2138
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-13.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..1f9633118b239a99705114358766716aaf555deb
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a5f55cf42e55737d5f4d65824d2fb8c42edf91
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-7.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Back_board2/Back_board/mesh4/mesh4-geometry#mesh4-geometry
+v 0.347750 0.285378 -0.165803
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eaaec8dc783b2dc50c1de43939452423d3cf4a1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-8.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Back_board3/Back_board/mesh4/mesh4-geometry#mesh4-geometry
+v 0.347750 0.182916 -0.128802
+v -0.356306 0.265510 -0.159190
+v -0.356306 0.182916 -0.128802
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diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb3fffbcc4e55aa1c4325709003e37589892ac18
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100523/textured_objs/original-9.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o Back_board4/Back_board/mesh4/mesh4-geometry#mesh4-geometry
+v 0.347750 0.082774 -0.084098
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diff --git a/data/PartNet-Mobility/FoldingChair/100526/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100526/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14d23f8571dd2501ca1475d1f1a1881b2291353
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.296983, -0.852767, -0.3341], "max": [0.307772, 0.551744, 0.501635]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100526/images/texture_0.jpg b/data/PartNet-Mobility/FoldingChair/100526/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7b3f4ddc4510f5161d398c32c1e7210dc6af1c39
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf42dd39ae123d529d8131cc6d46132286d039243e929ae65de8a4663514721
+size 9257
diff --git a/data/PartNet-Mobility/FoldingChair/100526/meta.json b/data/PartNet-Mobility/FoldingChair/100526/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0da195956ce1bc49b2b86e864efa72cac7c80420
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "386418bad1daf6657515e7bb7dba4019", "version": "1", "anno_id": "526", "time_in_sec": "8"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100526/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100526/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f3df482a61c5f1959a7f596fd30b5d03b84fc5e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_386418bad1daf6657515e7bb7dba4019">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 -0.11371483719179584 0.00663665918121115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.11371483719179584 0.00663665918121115"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.11371483719179584 -0.00663665918121115"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.9603538158400313"/>
+	</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-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-1.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-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-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100526/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100526/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1d2f8b7353cdbabbe6331f1fac57f70f641ddee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, 0.11371483719179584, -0.00663665918121115], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -112.32000000000002, "noLimit": false}}}, {"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/FoldingChair/100526/result.json b/data/PartNet-Mobility/FoldingChair/100526/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8968a0abe6a21fb45b63507fd9db93f7a28a8684
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-5", "original-6", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100526/result_original.json b/data/PartNet-Mobility/FoldingChair/100526/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..149d5e591ca0d9b078c51988df03831a82b207ce
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100526/semantics.txt b/data/PartNet-Mobility/FoldingChair/100526/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4753a90547e1d4231a05fb72ddbfd7204470
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2adf54792d46f902c4366fdf3171b6054cdf6f2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-1.obj
@@ -0,0 +1,614 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o cadi_pota2_1/cadi_pota2/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..640262af1bfb8fd082bb1efbcdc3e9966d419d37
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4753a90547e1d4231a05fb72ddbfd7204470
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34c3428bf4dc226124dd79b4994a7dbef7208161
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-5.obj
@@ -0,0 +1,638 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f85d4482a178376070e3165725cff7f0b9c3abf
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.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 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addaae9562f31ec6d0776d981bf10eed57fbb423
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100526/textured_objs/original-6.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
+v -0.284397 -0.394019 0.266213
+v 0.289770 -0.379684 0.258687
+v 0.289701 -0.394019 0.266214
+v -0.284328 -0.379684 0.258687
+v -0.284397 -0.399352 0.256055
+v 0.289770 -0.385017 0.248529
+v -0.284328 -0.385017 0.248529
+v 0.289770 -0.399352 0.256055
+vn -1.69425110027306e-7 -0.4648419766283362 -0.8853936620307561
+vn 0.9999908629806766 -0.003784997964926875 0.0019868934462948136
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+vn 1.69425110027306e-7 0.4648419766283362 0.8853936620307561
+vn 1.0347503166343468e-7 0.8853936516765876 -0.4648419963501436
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 4//2 1//2
+f 1//3 4//3 5//3
+f 4//4 6//4 2//4
+f 4//2 5//2 7//2
+f 7//3 5//3 4//3
+f 6//4 4//4 7//4
+f 5//5 6//5 7//5
+f 6//5 5//5 8//5
+usemtl material_1_0
+f 3//5 2//5 1//5
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+f 7//1 6//1 5//1
+f 8//1 5//1 6//1
diff --git a/data/PartNet-Mobility/FoldingChair/100531/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100531/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc2f35c3c772549719b09e7e6bca088a076705c4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.434196, -0.818456, -0.441799], "max": [0.433788, 0.799938, 0.519804]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100531/images/texture_0.jpg b/data/PartNet-Mobility/FoldingChair/100531/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..58557d6c9e68c335c1bc279eed0106edc1492125
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1fd2e32947d226d7b4dacb77771e4a052fcec19aae6d57774a7595520201409
+size 3121
diff --git a/data/PartNet-Mobility/FoldingChair/100531/meta.json b/data/PartNet-Mobility/FoldingChair/100531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9763fe547fce9b4f85e2cce340aad210b7f33bd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "4960144353a6dd944c5483fab67d9a50", "version": "1", "anno_id": "531", "time_in_sec": "6"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100531/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100531/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..59c9616e1501a2e73822cd312ad9e5fbe73c4c3e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4960144353a6dd944c5483fab67d9a50">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.08996063196541416 -0.06201428319909622"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.08996063196541416 -0.06201428319909622"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.08996063196541416 0.06201428319909622"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.086017521983622"/>
+	</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-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100531/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100531/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..774949042dc5bc2100b7b74291793d1ec25c57ef
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.08996063196541416, 0.06201428319909622], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -119.51999999999998, "noLimit": false}}}, {"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/FoldingChair/100531/result.json b/data/PartNet-Mobility/FoldingChair/100531/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc6b64bf582b79c2d19e81952a9ef541b845c20
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-5"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-8", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100531/result_original.json b/data/PartNet-Mobility/FoldingChair/100531/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..462d58ae285e498923986b5d48e0554a3f63bce7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100531/semantics.txt b/data/PartNet-Mobility/FoldingChair/100531/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-2.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/FoldingChair/100531/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46de2e763e5b0479e9008f75ce9f989038a96df5
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-2.obj
@@ -0,0 +1,55 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Component_8_1/Component_8/mesh1/mesh1-geometry#mesh1-geometry
+v 0.408698 -0.623542 0.349660
+v -0.409107 -0.613741 0.366634
+v -0.409107 -0.623542 0.349660
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+vt 0.018181 0.341464
+vt 0.00909 0
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+vt 0.341464 0.002046
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+vt 0 0.341464
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+vt 0.341464 0.011728
+vt 0.027271 0.341464
+vt -0.341464 0.011728
+vt 0 0
+vt 0.036361 0.341464
+vt -0.341464 -0.006138
+vt -0.341464 0.002046
+vt 0.036361 0
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diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8367c4e90c4ed48813f4c866c2d89e1d51694bb9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfffdb2ab6a8eb297480b2b1d93b527a82713785
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-3.obj
@@ -0,0 +1,514 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v -0.434196 -0.084281 0.071517
+v -0.433986 -0.818456 0.456852
+v -0.434196 -0.807770 0.475967
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diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.mtl
@@ -0,0 +1,15 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fc3b34f99c9472b9168ea8afdbd63549e42646b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-7.obj
@@ -0,0 +1,54 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Component_9_1/Component_9/mesh7/mesh7-geometry#mesh7-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-8.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..098b0834c7777bac417781f3d132c07f3c5d10bf
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100531/textured_objs/original-8.obj
@@ -0,0 +1,54 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Component_9_2/Component_9/mesh7/mesh7-geometry#mesh7-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100532/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f4b3204bd29721c83bad7b654911e8a4508cf7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.43072, -0.79962, -0.484187], "max": [0.446105, 0.79175, 0.580573]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100532/meta.json b/data/PartNet-Mobility/FoldingChair/100532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd1cd4b60e4401fa0f5e56e5d8f5f88117a038a8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "4ae3ee61ebfd4d7bc05575120a46cd3b", "version": "1", "anno_id": "532", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100532/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100532/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf48e56b5cbc4c196f9eab4a3a0009d35291e0e8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4ae3ee61ebfd4d7bc05575120a46cd3b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.09 -0.06"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.09 -0.06"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.09 0.06"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.086017521983622"/>
+	</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-2.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-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.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-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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100532/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100532/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2000765e27962ecc61b3cb8d02a9c5b515e2b681
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"seat","parts":[{"id":1,"name":"seat"}],"jointData":{"axis":{"origin":[0,-0.09,0.06],"direction":[1,0,0]},"limit":{"a":0,"b":-119.51999999999998,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100532/result.json b/data/PartNet-Mobility/FoldingChair/100532/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4388627b88759542e0b13dd62bcdf0d9c707073
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-2", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100532/result_original.json b/data/PartNet-Mobility/FoldingChair/100532/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7325ee7fa76fdfc36c09176daa55288f53524b08
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100532/semantics.txt b/data/PartNet-Mobility/FoldingChair/100532/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89840604ee2595232105ded22c435bcce0867ef
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-1.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 1
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e038b568e62b6a020ebb9c543639c4dbde8774f1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fa8b508910755234148cec351070173ef4782a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4a0c1fa44abaec11b145ae7968ff6205f109d7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-4.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57144c41f09a74a0a80b06cb20fa6906c352aaa4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0fd4e1fb36034e41378aa10f1c80cee47054d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eaab1381132679bb3adce784a9f520dc7aa1fd6
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-6.obj
@@ -0,0 +1,311 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Component_5_1/Component_5/mesh6/mesh6-geometry#mesh6-geometry
+v 0.412955 -0.794186 -0.467819
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
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diff --git a/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100532/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3172995c15e0463e6bf550eab9844a9777b96ea6
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diff --git a/data/PartNet-Mobility/FoldingChair/100557/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100557/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..666bcf3ef0040639ac5270b648a2a9b7a2a39157
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.436688, -0.767199, -0.429892], "max": [0.466919, 0.64551, 0.605202]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100557/meta.json b/data/PartNet-Mobility/FoldingChair/100557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c4b4bc2ac3fe5f2340c710d192acf05806eefd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "77343b3052c4c5d0492d9da2668ec34c", "version": "2", "anno_id": "557", "time_in_sec": "39"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100557/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100557/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9622201fbe0d9fca15b798fed1406b5f53a450f9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/mobility.urdf
@@ -0,0 +1,65 @@
+<?xml version="1.0" ?>
+<robot name="partnet_77343b3052c4c5d0492d9da2668ec34c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 -0.0191501722664436 -0.02939885926269495"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.0191501722664436 -0.02939885926269495"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0191501722664436 0.02939885926269495"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.086991058142069"/>
+	</joint>
+	<link name="link_1">
+		<visual name="backlegs-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 -0.0191501722664436 -0.02939885926269495"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.0191501722664436 -0.02939885926269495"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
+		<origin xyz="0 0.0191501722664436 0.02939885926269495"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.1184069846779663"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100557/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100557/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..00242e0559d32c7402f3069efb38cfd6cc8be439
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, 0.0191501722664436, 0.02939885926269495], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -62.28000000000003, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "backlegs", "parts": [{"id": 2, "name": "backlegs", "children": []}], "jointData": {}}, {"id": 2, "parent": 1, "joint": "hinge", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {"axis": {"origin": [0, 0.0191501722664436, 0.02939885926269495], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 64.08, "noLimit": false}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100557/result.json b/data/PartNet-Mobility/FoldingChair/100557/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b01d79ccdfc9f675b3930bc7a682d4776a50b41
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100557/result_original.json b/data/PartNet-Mobility/FoldingChair/100557/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2402cab70e19230b02141153453a595245020a26
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100557/semantics.txt b/data/PartNet-Mobility/FoldingChair/100557/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0947d493b5e619137ae285ab5681daf9b7d189b3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 free leg
+link_2 hinge leg
diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.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 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc817177f633758de822be6e7e5f2afe2ae499c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-1.obj
@@ -0,0 +1,1030 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v 0.295966 -0.740710 0.605202
+v -0.265736 -0.720907 0.590910
+v -0.265736 -0.740710 0.605202
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+v 0.352041 -0.711862 0.584383
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+v 0.340212 -0.735986 0.601793
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+v 0.354165 -0.711133 0.583856
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diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd5b6626c8cfbd1633abce146e744baa3d5a612
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-2.obj
@@ -0,0 +1,696 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.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 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33140380c0d3021bc00f3b9eaaecfab8b8752219
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100557/textured_objs/original-3.obj
@@ -0,0 +1,902 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100561/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..679e92710c8304c3b3645bd8743e9acae5fda187
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.436716, -0.64297, -0.426492], "max": [0.437801, 0.71473, 0.655061]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100561/meta.json b/data/PartNet-Mobility/FoldingChair/100561/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d975fec6db31434e0a1c25b4ae8eb8eb87461d7c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "7bbd0992-e10c-468e-b5ad-a81ccca30802", "version": "1", "anno_id": "561", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100561/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100561/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..60a728de2fc86a3079090785f25e97d62f0ae8cc
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7bbd0992-e10c-468e-b5ad-a81ccca30802">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.038957425754729734 -0.21489298549423258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 0.038957425754729734 -0.21489298549423258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.038957425754729734 -0.21489298549423258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.038957425754729734 -0.21489298549423258"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.038957425754729734 0.21489298549423258"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.2116812281272145"/>
+	</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-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-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-6.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>
+	</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/FoldingChair/100561/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100561/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f5041858c1bcce28983b64403810096c1f33077
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.038957425754729734, 0.21489298549423258], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -126.72, "noLimit": false}}}, {"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/FoldingChair/100561/result.json b/data/PartNet-Mobility/FoldingChair/100561/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..daff91e348de0da369a63455da832c802cfba382
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3", "original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100561/result_original.json b/data/PartNet-Mobility/FoldingChair/100561/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ca2abc4d81c97f30bf38dfa934623dd5a3b0bc
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3", "original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100561/semantics.txt b/data/PartNet-Mobility/FoldingChair/100561/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..854db049e6a40600f38d8bd8b1715759369e66f9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.16862745098039217 0.16862745098039217 0.16862745098039217 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23bd3bd514a14bd7f1781f9690ba0b2d598c6e50
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-1.obj
@@ -0,0 +1,545 @@
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+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..854db049e6a40600f38d8bd8b1715759369e66f9
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d78f0eac2058c36cf21badb4cd90df0adfc363e
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..854db049e6a40600f38d8bd8b1715759369e66f9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c964691e6d6d988b91460d441133e3011fbabfcd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-3.obj
@@ -0,0 +1,1145 @@
+# SSTK version 0.8.0
+# 3
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..854db049e6a40600f38d8bd8b1715759369e66f9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.16862745098039217 0.16862745098039217 0.16862745098039217 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13701687063280a27dc5da2df58f9aa809e2cd4e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-4.obj
@@ -0,0 +1,615 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100561/textured_objs/original-7.mtl
new file mode 100644
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+v 0.422252 0.037400 0.147918
+v 0.371509 -0.642969 0.626862
+v 0.420638 -0.642970 0.627026
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+vn 0.0020015870102098768 0.8047199041047886 -0.5936513030281503
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+vn -0.002725636980902517 0.5757710959657946 0.8176063942713485
+vn 0.002725636980902517 -0.5757710959657946 -0.8176063942713485
+vn 0.9999943424168727 -0.0000065874652794220045 0.003363791142682308
+vn -0.9999943424168727 0.0000065874652794220045 -0.003363791142682308
+vn 0.00001839795999688625 1 6.205604021154196e-8
+vn -0.00001839795999688625 -1 -6.205604021154196e-8
+vn -0.0027257280582290485 0.5757604122998258 0.8176139174664822
+vn 0.0027257280582290485 -0.5757604122998258 -0.8176139174664822
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 8//2 7//2 6//2
+f 9//3 10//3 11//3
+f 10//3 9//3 12//3
+f 13//4 14//4 15//4
+f 16//4 15//4 14//4
+f 17//5 18//5 19//5
+f 18//5 17//5 20//5
+f 18//5 20//5 21//5
+f 22//6 23//6 24//6
+f 23//6 25//6 24//6
+f 26//6 24//6 25//6
+f 27//7 28//7 29//7
+f 28//7 27//7 30//7
+f 30//7 27//7 31//7
+f 32//8 33//8 34//8
+f 34//8 33//8 35//8
+f 36//8 35//8 33//8
+f 37//9 38//9 39//9
+f 38//9 37//9 40//9
+f 38//9 40//9 41//9
+f 38//9 41//9 42//9
+f 43//10 44//10 45//10
+f 44//10 46//10 45//10
+f 46//10 47//10 45//10
+f 48//10 45//10 47//10
+f 49//11 50//11 51//11
+f 50//11 49//11 52//11
+f 53//12 54//12 55//12
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+f 61//14 62//14 63//14
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100562/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3269054ee3606b6a89f3214a79edc6d27cd074ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.435656, -0.816607, -0.593823], "max": [0.403085, 0.541538, 0.569466]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100562/meta.json b/data/PartNet-Mobility/FoldingChair/100562/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c43f70dff6dc1b9853458f522944ed87ffa557
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "7be92b72-5871-4b03-8f65-f208619f6c38", "version": "1", "anno_id": "562", "time_in_sec": "54"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100562/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100562/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9beb0882acccf8d92bc1c810f011ee98c2ab1ad1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/mobility.urdf
@@ -0,0 +1,389 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7be92b72-5871-4b03-8f65-f208619f6c38">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.1086637897524794 0.06568956301361317"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.1086637897524794 -0.06568956301361317"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="1.7907078125461824"/>
+	</joint>
+	<link name="link_1">
+		<visual name="backlegs-2">
+			<origin xyz="0 0.4022122170807688 -0.16988329296914237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.4022122170807688 -0.16988329296914237"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 -0.4022122170807688 0.16988329296914237"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="0.8356636458548848"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.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-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-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.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-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>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.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/FoldingChair/100562/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100562/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e080cb2a600380ff259925de05e8d59b968cae
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.1086637897524794, -0.06568956301361317], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -102.60000000000002, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "backlegs", "parts": [{"id": 2, "name": "backlegs", "children": []}], "jointData": {"axis": {"origin": [0, -0.4022122170807688, 0.16988329296914237], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -47.879999999999995, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100562/result.json b/data/PartNet-Mobility/FoldingChair/100562/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..112788db2e5a487528f9dbd54f99c7cffc76f9f2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3", "original-4", "original-2"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-5"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-21", "original-30", "original-36", "original-28", "original-22", "original-26", "original-13", "original-9", "original-35", "original-39", "original-27", "original-31", "original-15", "original-23", "original-11", "original-38", "original-34", "original-18", "original-25", "original-17", "original-32", "original-7", "original-10", "original-14", "original-19", "original-40"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100562/result_original.json b/data/PartNet-Mobility/FoldingChair/100562/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e60222d480c73e959a8e8f209e523d827dd720
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3", "original-4", "original-2"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100562/semantics.txt b/data/PartNet-Mobility/FoldingChair/100562/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12e85eca54f89d9ff90cc12ad82e0c352474849
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 hinge leg
+link_2 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77c1c6b4b1c42ad72008ea5026af066fcd898e63
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3465dae5b9bde8f36ad9b09c4eb98ca9df4c97c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd4d494571cd2943a855b58ee08fa0f3f3ff547
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-15.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953bc1a79af82f26f0b9a6ab8633c1fbc345e71b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-15.obj
@@ -0,0 +1,3099 @@
+# SSTK version 0.8.0
+# 15
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..152fc123ba5cc03fc50e19b7b9fb950186d9fd8d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e64ff12056f9135ae9d2838e659812c1915dbf2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83cd8e13ad8fb9125cdef5290ce81550623a6b77
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-19.obj
@@ -0,0 +1,3099 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..818b23c0fcd3d55b54c81af694cb50359550c4d4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-2.obj
@@ -0,0 +1,327 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-21.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-21.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f5e2156f71b698acaadbb74c6c32790ee56213
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-22.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-23.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-23.mtl
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index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-23.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..4dc7979123e644d91e6cb7e8db755cc228348c66
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db8915190b51be9b93cc85a55f5eeb05e6a01a2e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf9103dbb9ae390773923229a94efd1dc01e417
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db8915190b51be9b93cc85a55f5eeb05e6a01a2e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.39215686274509803 0.5803921568627451 0.9294117647058824 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..864fa5d6e96781ee3024a8fe7c74de957575acf2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-26.obj
@@ -0,0 +1,333 @@
+# SSTK version 0.8.0
+# 26
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-27.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db8915190b51be9b93cc85a55f5eeb05e6a01a2e
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-27.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbddb984acf13e7b39d2ac03652cca09daafc1a8
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-28.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db8915190b51be9b93cc85a55f5eeb05e6a01a2e
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-28.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..257719dfe16a38dfcc9dac02963821eb57d83e25
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a07760b5550aaf54b4a01fdf25623daf0b8bb3e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55a08a79f88fab918fa94a2496f7e0bb3a5ebb64
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77f74b7d2ddb4621350292d6b1cd3968f0bc905f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-31.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-31.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad967dec6ca5add6cce5a74f28704dc26a939d8c
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c767c280ea1e03fe28191f71422ea7e04f96398
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-32.obj
@@ -0,0 +1,3099 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476197efa75c4d5dd3a23b225ae3f8e856b38896
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1acc41a6724d9bf92e3a3e58e033b495db165f9d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-36.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-36.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca75562beb0dabd93c24eb4990e5d0d013e42562
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-38.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-38.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c23e5c3d63997f109339e7440a54be606786d93
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..204a46b2262b44f019a189781e3962abf50d383b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-39.obj
@@ -0,0 +1,371 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2fd93656148fb09e5b0caf50327c7a73ccd4b7f
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0431d6c18f062f5fa2679d589efaf42bd6a5dfca
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a0f40b56b44ade9e8484cb9ffeeb072883232f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.6627450980392157 0.6627450980392157 0.6627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70c88f059352bd1edac4cd5121e1f5911a15828d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-5.obj
@@ -0,0 +1,14041 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a0f40b56b44ade9e8484cb9ffeeb072883232f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b172f8d86d9659dff06f1e850274c315acc0dc83
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.3176470588235294 0.3176470588235294 0.3176470588235294 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e0410153228e7d2af92c347f895634eace0b7ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100562/textured_objs/original-9.obj
@@ -0,0 +1,3099 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100568/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0904e36fd7548d82f6974de6dd95ebe564e7fde9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.395896, -0.726916, -0.43669], "max": [0.404935, 0.613373, 0.604928]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100568/meta.json b/data/PartNet-Mobility/FoldingChair/100568/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09aa86e6c3540f33c120c063ebf36589f55e9dac
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "8841a35812d5a95f98a4820926b2a786", "version": "1", "anno_id": "568", "time_in_sec": "12"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100568/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100568/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a6b4ee3690104d76dd6ef4eb2dce5b1b353fe21
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8841a35812d5a95f98a4820926b2a786">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.10308522362873963 -0.1536175273582958"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.10308522362873963 -0.1536175273582958"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.10308522362873963 0.1536175273582958"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.1928316722056755"/>
+	</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-8.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-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-8.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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100568/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100568/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..780bd13ed5e65bee1a32b15b615cf41fac8f7770
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.10308522362873963, 0.1536175273582958], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -125.63999999999999, "noLimit": false}}}, {"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/FoldingChair/100568/result.json b/data/PartNet-Mobility/FoldingChair/100568/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..da2adb91f461c389392d76f72469fd87a229366c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-8", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100568/result_original.json b/data/PartNet-Mobility/FoldingChair/100568/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..149d5e591ca0d9b078c51988df03831a82b207ce
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100568/semantics.txt b/data/PartNet-Mobility/FoldingChair/100568/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2e5a08ece9e256da2140ed88ae1633bed9bd4c30
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.mtl
@@ -0,0 +1,21 @@
+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 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fecb898fd11ee9abde5e06781d758703e362af19
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-1.obj
@@ -0,0 +1,846 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v 0.348212 0.457791 -0.233629
+v 0.309336 0.312949 -0.143946
+v 0.262951 0.307386 -0.151739
+v 0.355370 0.413536 -0.202041
+v 0.309933 0.306826 -0.142850
+v 0.327717 0.498061 -0.262374
+v 0.355370 0.400477 -0.220336
+v 0.355370 0.319423 -0.134875
+v 0.263457 0.301252 -0.150660
+v 0.355370 0.313216 -0.133898
+v 0.348212 0.444731 -0.251925
+v 0.216267 0.302740 -0.158248
+v 0.355370 0.306364 -0.153171
+v 0.355370 0.303745 -0.137494
+v 0.311726 0.297607 -0.146094
+v 0.327717 0.485002 -0.280669
+v 0.295116 0.532643 -0.287058
+v 0.314116 0.300562 -0.161299
+v 0.355370 0.297215 -0.146642
+v 0.216683 0.296598 -0.157181
+v 0.264978 0.292001 -0.153948
+v 0.267004 0.294912 -0.169215
+v 0.169339 0.299017 -0.163464
+v 0.314116 0.291414 -0.154770
+v 0.267005 0.285764 -0.162686
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c0d39bda020863fcb7b7a0fd3fafb937a24d67e8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64db403bee131a1ac62d0aabe6088304bcf71403
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5568627450980392 0.5568627450980392 0.5568627450980392 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dceb0164c1be8355b11b6e1909d19dafcee1bc8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-3.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e97a6764c3ca86e9daffb2cb8e96a6e78893719
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144ffa08aee55b1b68ad896b2c2108db811a9702
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-5.obj
@@ -0,0 +1,131 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c60a7b5d3f206a08f399f85daf2da00774189b8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-6.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9800afc0e534956a9f528a6854ef92d2b3a465
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-7.obj
@@ -0,0 +1,241 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100568/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa72aef19a156008c84185faeb1b5a80cc9704f9
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100579/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3710d76909fa1e5f231d3b2078d44cd38d5a1261
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/bounding_box.json
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100579/meta.json b/data/PartNet-Mobility/FoldingChair/100579/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c10fae91679ea4bca358215b6c8289da526a60ca
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "a1953756-9c80-4af5-83b3-0b4c71458d36", "version": "1", "anno_id": "579", "time_in_sec": "14"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100579/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100579/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..529f8e6fae6e1605d26bcb8febce905e557fee8b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/mobility.urdf
@@ -0,0 +1,164 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a1953756-9c80-4af5-83b3-0b4c71458d36">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.0653673493257405 -0.029782455133041362"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0653673493257405 0.029782455133041362"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.9980529276831083"/>
+	</joint>
+	<link name="link_1">
+		<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-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-12.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-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-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-12.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/FoldingChair/100579/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100579/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae7c5cd659d2e22eba90177989d2ce2a9627bee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, 0.0653673493257405, 0.029782455133041362], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -114.47999999999999, "noLimit": false}}}, {"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/FoldingChair/100579/result.json b/data/PartNet-Mobility/FoldingChair/100579/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9da00abba231e3f24a35f9bd3aefe12a22ebff
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-2", "original-3", "original-4", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-13", "original-9", "original-6", "original-15", "original-11", "original-12", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100579/result_original.json b/data/PartNet-Mobility/FoldingChair/100579/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..23b174c3a0552161abfe0906c6fc546296e67796
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-2", "original-3", "original-4", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100579/semantics.txt b/data/PartNet-Mobility/FoldingChair/100579/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+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/FoldingChair/100579/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d015c2b179afa074a075319b4a61c42f1cdb168
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-11.obj
@@ -0,0 +1,89 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o #ID41
+v 0.362274 0.669390 -0.313482
+v 0.418055 -0.762315 0.523228
+v 0.418055 0.669390 -0.313482
+v 0.362274 -0.762315 0.523228
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+v 0.418055 0.669390 -0.313482
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+v 0.418055 0.354152 -0.150788
+v 0.418055 -0.762315 0.501693
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+v 0.362274 0.660008 -0.329536
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+v 0.418055 -0.762315 -0.294735
+v 0.362274 -0.762315 -0.313482
+v 0.418055 -0.762315 -0.313482
+v 0.362274 -0.762315 -0.294735
+vn 0 0.5045680241351012 0.8633719412978396
+vn 1 0 0
+vn 0 0.8633719412978396 -0.5045680241351012
+vn -1 0 0
+vn 0 -1 0
+vn 0 0.12787199737923235 -0.9917906796730073
+vn 0 -0.5045680241351012 -0.8633719412978396
+vn 0 -0.12787199737923235 0.9917906796730073
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 6//2 5//2 8//2
+f 8//2 5//2 9//2
+f 9//2 5//2 10//2
+f 9//2 11//2 8//2
+f 11//2 9//2 12//2
+f 13//3 14//3 15//3
+f 14//3 13//3 16//3
+f 17//4 18//4 19//4
+f 18//4 17//4 20//4
+f 21//4 22//4 23//4
+f 22//4 21//4 19//4
+f 22//4 19//4 18//4
+f 22//4 18//4 24//4
+f 25//5 26//5 27//5
+f 26//5 25//5 28//5
+f 29//6 30//6 31//6
+f 30//6 29//6 32//6
+f 33//7 34//7 35//7
+f 34//7 33//7 36//7
+f 37//7 38//7 39//7
+f 38//7 37//7 40//7
+f 41//8 42//8 43//8
+f 42//8 41//8 44//8
+f 45//5 46//5 47//5
+f 46//5 45//5 48//5
diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3eda54f8424d23e4446c31e2ea237059bc33201
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-12.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o #ID47
+v 0.362274 0.672600 -0.315359
+v 0.418055 0.663219 -0.331412
+v 0.362274 0.663219 -0.331412
+v 0.418055 0.672600 -0.315359
+v 0.362274 0.663219 -0.331412
+v 0.362274 0.669390 -0.313482
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+v 0.362274 0.672600 -0.315359
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+v 0.418055 0.669390 -0.313482
+v 0.418055 0.663219 -0.331412
+v 0.418055 0.672600 -0.315359
+v 0.418055 0.660008 -0.329536
+v 0.362274 0.660008 -0.329536
+v 0.418055 0.663219 -0.331412
+v 0.418055 0.660008 -0.329536
+v 0.362274 0.663219 -0.331412
+vn 0 0.8633719412978396 -0.5045680241351012
+vn -1 0 0
+vn 0 0.5045680241351012 0.8633719412978396
+vn 1 0 0
+vn 0 -0.5045680241351012 -0.8633719412978396
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 6//2 5//2 8//2
+f 9//3 10//3 11//3
+f 10//3 9//3 12//3
+f 13//4 14//4 15//4
+f 14//4 13//4 16//4
+f 17//5 18//5 19//5
+f 18//5 17//5 20//5
diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+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/FoldingChair/100579/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc10d48f94838f280fccbaa555ad2f6b5e2a00
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-13.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o instance_2/barre/ID56#ID56
+v -0.362875 -0.477771 0.335400
+v 0.362274 -0.479740 0.336821
+v -0.362875 -0.479740 0.336821
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2ad39e32b003150f3e930a4d5b1be3d7a24ec0
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..e28107a6a33df8a272e239a5e6f4af89db991bf0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-4.mtl
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index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..c44f337ce4a3e710b7d4b8d7b09691296587a24b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-5.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..1d708272252c6fa1c9aa93435c8af7fb43782521
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..bd22f702d990299cdbe911cf62cbdc69bf886ca2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-8.mtl
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index 0000000000000000000000000000000000000000..80b9a61735a9b4ad0db498d962a5e34dfee16082
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-8.obj
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index 0000000000000000000000000000000000000000..7a465614e5f87b1787333f2b293721021d23dbd4
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100579/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..e9a524a3ca5f37ff11874ecf61391cbda6b818a2
--- /dev/null
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+vn 1 0 0
+vn 0 -0.5045680241351012 -0.8633719412978396
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 6//2 7//2
+f 6//2 5//2 8//2
+f 9//3 10//3 11//3
+f 10//3 9//3 12//3
+f 13//4 14//4 15//4
+f 14//4 13//4 16//4
+f 17//5 18//5 19//5
+f 18//5 17//5 20//5
diff --git a/data/PartNet-Mobility/FoldingChair/100586/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100586/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84796f513e1baa6b647381b4afb0c9aed937437
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.511757, -0.774774, -0.508659], "max": [0.496552, 0.828888, 0.573119]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100586/meta.json b/data/PartNet-Mobility/FoldingChair/100586/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..293da2bc53adc6345ac7f9f7083f5d4abf66a75e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "b46ad21b7126049842ca7cc070f21ed3", "version": "1", "anno_id": "586", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100586/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100586/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b522a5af7fe94267d433792f377cc338d62ff15
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/mobility.urdf
@@ -0,0 +1,272 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b46ad21b7126049842ca7cc070f21ed3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.023971808790946115 -0.0337765042555984"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.023971808790946115 -0.0337765042555984"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.023971808790946115 0.0337765042555984"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.82840692438926"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-17.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-20.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-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-21.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-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-17.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-7.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/FoldingChair/100586/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100586/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4c93b509b972f91ac8ecafcddcfbab184b7b81
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.023971808790946115, 0.0337765042555984], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -104.76000000000002, "noLimit": false}}}, {"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/FoldingChair/100586/result.json b/data/PartNet-Mobility/FoldingChair/100586/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a55c2293f87bb08ebea92b0efbb1af1bd46f79
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "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-17", "original-12", "original-20", "original-7", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100586/result_original.json b/data/PartNet-Mobility/FoldingChair/100586/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100586/semantics.txt b/data/PartNet-Mobility/FoldingChair/100586/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6196078431372549 0.7137254901960784 0.7372549019607844 
+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/FoldingChair/100586/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a83abebaedad5e263f91871a6c2e692b2128c01
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-1.obj
@@ -0,0 +1,14692 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b83476630fc242c59550668e979dff943e741651
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053a85a92be82aaf11271b0d2042a8cc7f666546
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6196078431372549 0.7137254901960784 0.7372549019607844 
+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/FoldingChair/100586/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb00363f5a37301cdbdf3bd41b4b9a339550af6a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-12.obj
@@ -0,0 +1,2518 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-13.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6196078431372549 0.7137254901960784 0.7372549019607844 
+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/FoldingChair/100586/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7b88f816d7cd030d951ed3f47c8c8afda1021f3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-13.obj
@@ -0,0 +1,2616 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..271600601677328ae92815a28c8e7c9665609c8e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-15.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa1ed6fea92012a253cc0b7682dd0fd162133a9e
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-16.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0b04c6e881341d57de8d54476273ad9c8c95f76
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41365c62b886a38854fbb31024826ce0eac2941f
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-18.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..713d0ba3ba0d8e36d78b3fa30794efc0c9e4603a
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-19.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..148c5396225de8bcc1fcdb937605540749e043fb
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3276bca22ba191ec314ce91c0db9736fb2672fca
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-20.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-20.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca18c52d97628bd94c957aea0149b147ea80934a
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-21.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-21.mtl
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index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-21.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..ad0da8f994ea67a4ea51f644ca96afafda5a9618
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a40c5774e01626491d6ad9ddac8ec811aa3c2ed0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad1fa9a67c49fffa81768669721b2a3aa3765d4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-4.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..455de182f6e57a82a6bd9a5d1b2bf492540fce90
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45ae5e1b0e7ab4c7a6d1d8730ed4a11163cb6763
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..579183f68ef0208ea85cb095ff0d9846d995b076
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2abc08c6f4d24ece620bdb25e1ce222ddf3df0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7423b56bbb5643a26c375205e3cdb0bb5816d692
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c35b41f6c6253904dbd5be76312d668bc32ab5ce
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7423b56bbb5643a26c375205e3cdb0bb5816d692
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b7d50c25dd2b691091ae6b145683b30c72f214
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..579183f68ef0208ea85cb095ff0d9846d995b076
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10552c1fa81558c4ca17bcfbb9e9f71cb1bde15f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100586/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100587/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a099dce5ad513dab70155918e3b56e57108ea5b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/bounding_box.json
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/meta.json b/data/PartNet-Mobility/FoldingChair/100587/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4464404b8102e1bfa6a26f8d6cf1ed9bde4274
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/meta.json
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+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "b81a2b98435b9bfb93d537020ed867c", "version": "1", "anno_id": "587", "time_in_sec": "91"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100587/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100587/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d3cfb717d25692f8496160641fac0313005e373
--- /dev/null
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+		</visual>
+		<visual name="backlegs-2">
+			<origin xyz="0 0.34963822163366637 -0.023905045293297598"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="backlegs-2">
+			<origin xyz="0 0.34963822163366637 -0.023905045293297598"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.34963822163366637 -0.023905045293297598"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34963822163366637 -0.023905045293297598"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.34963822163366637 -0.023905045293297598"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 -0.34963822163366637 0.023905045293297598"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="1.2000883936713007"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-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-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-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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/FoldingChair/100587/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100587/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d903854809ad98f4f316e27d46996daf97fdab0a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"seat","parts":[{"id":1,"name":"seat","children":[]}],"jointData":{"axis":{"origin":[0,-0.01646575039098274,0.4133621848747411],"direction":[1,0,0]},"limit":{"a":-12.600000000000023,"b":149.76,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"backlegs","parts":[{"id":2,"name":"backlegs","children":[]}],"jointData":{"axis":{"origin":[0,-0.34963822163366637,0.023905045293297598],"direction":[1,0,0]},"limit":{"a":0,"b":-68.75999999999999,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100587/result.json b/data/PartNet-Mobility/FoldingChair/100587/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc2e992380febe6da123962c357f295b7a70b88
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-16", "original-17", "original-18", "original-27", "original-1", "original-15", "original-14", "original-7", "original-19", "original-8", "original-4", "original-12", "original-13"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-2", "original-25", "original-9"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-21", "original-22", "original-26", "original-3", "original-5", "original-6", "original-23", "original-11", "original-24", "original-20", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100587/result_original.json b/data/PartNet-Mobility/FoldingChair/100587/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..583d9069f777e5c38bb341128a883e4fec228f4c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-16", "original-17", "original-18", "original-27", "original-1", "original-15", "original-14", "original-7", "original-19", "original-8", "original-4", "original-12", "original-13"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-2", "original-25", "original-9"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100587/semantics.txt b/data/PartNet-Mobility/FoldingChair/100587/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12e85eca54f89d9ff90cc12ad82e0c352474849
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 hinge leg
+link_2 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/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/FoldingChair/100587/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb5dc218d53fd15ef55a7981d6e27a8668d5eee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-1.obj
@@ -0,0 +1,1331 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Component_2_1/Component_2/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-10.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/FoldingChair/100587/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7b8aa511b7b96a8c84c760dc35dfa2ca561c2c0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3edd7e9958e8d5b4469d4efb4b81d7a0e806057
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e83bed1c133fe23b6e4c226fefed7d569ae7eb4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06dfa091ed8d99fc9a4a971635a21e9a8eeea1f9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c0c0656d0ae4ca4d67aac0c05811b58001e5f8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-14.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o Component_5_1/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.087815 0.454395
+v -0.358558 0.058903 0.453416
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-15.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-15.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/FoldingChair/100587/textured_objs/original-15.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2335c536c4ce7d5bb682c34dd08bc386f0313521
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-15.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o Component_5_2/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.084304 0.307826
+v -0.358558 0.055394 0.308836
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d17976d63ae0615beeeaf03c0054aaf309188f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-16.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o Component_5_3/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.069951 0.161683
+v -0.358558 0.041178 0.164675
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-17.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/FoldingChair/100587/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bcf4b79f183ab3ad8af2395f16592fb7b5a5596c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-17.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o Component_5_4/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.052581 0.016832
+v -0.358558 0.023845 0.020165
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-18.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/FoldingChair/100587/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa141313497f7f570c6d80b748b11aa679c455cb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-18.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o Component_5_5/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.040824 -0.127041
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a8cd7977fe0b9caece54907ce0f16e2dd7366d9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-19.obj
@@ -0,0 +1,515 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4109f06ca727bc81558fcc2bad2eceea4da3181c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6193528449ba2d859bc806a721ef6bdf24ab957f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-20.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o Component_5_6/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.439457 -0.265832
+v -0.358558 0.429343 -0.292935
+v -0.358558 0.439457 -0.265832
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+vn -1 0 0
+vn 1 0 0
+vn 0 0.34960754619111073 0.9368962395304137
+vn 0 -0.34960754619111073 -0.9368962395304137
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-21.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-21.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/FoldingChair/100587/textured_objs/original-21.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88217c0ff4c0788b08919e3cc5cc2e4ab51d1cb1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-21.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o Component_5_7/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.584410 -0.311265
+v -0.358558 0.575982 -0.338939
+v -0.358558 0.584410 -0.311265
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+vn 0 0.9566236018907718 -0.2913267655151624
+vn 0 -0.9566236018907718 0.2913267655151624
+vn -1 0 0
+vn 1 0 0
+vn 0 0.2913267655151624 0.9566236018907718
+vn 0 -0.2913267655151624 -0.9566236018907718
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
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+f 7//1 5//1 6//1
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-22.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-22.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/FoldingChair/100587/textured_objs/original-22.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..069168e536a51eb3061de74c8cc41e0fe889e987
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-22.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Component_5_8/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.728950 -0.348817
+v -0.358558 0.722324 -0.376976
+v -0.358558 0.728950 -0.348817
+v 0.364650 0.722324 -0.376976
+v -0.358558 0.630393 -0.325625
+v 0.364650 0.623766 -0.353784
+v -0.358558 0.623766 -0.353784
+v 0.364650 0.630393 -0.325625
+vn 0 0.9734135384185897 -0.22905476031595798
+vn 0 -0.9734135384185897 0.22905476031595798
+vn -1 0 0
+vn 1 0 0
+vn 0 0.22905476031595798 0.9734135384185897
+vn 0 -0.22905476031595798 -0.9734135384185897
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c640599a07d8dc2c6a050ef7fe5d524633034d2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-23.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o Component_5_9/Component_5/mesh37/mesh37-geometry#mesh37-geometry
+v 0.364650 0.873579 -0.382471
+v -0.358558 0.867022 -0.410647
+v -0.358558 0.873579 -0.382471
+v 0.364650 0.867022 -0.410647
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+vn 0 -0.22664960303029544 -0.9739763639053105
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-24.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-24.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/FoldingChair/100587/textured_objs/original-24.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4d0dc76a446089b2c05b2e064ff598471c41880
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-24.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o Component_6_1/Component_6/mesh41/mesh41-geometry#mesh41-geometry
+v 0.328490 -0.491717 0.240262
+v -0.322398 -0.512860 0.220518
+v -0.322398 -0.491717 0.240262
+v 0.328490 -0.512860 0.220518
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+vn 0 -0.7308771503148537 -0.6825090410739181
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a80243c1c5937ba88a5dffd350f9898c793ad415
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-25.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o Component_6_2/Component_6/mesh41/mesh41-geometry#mesh41-geometry
+v 0.328490 -0.535873 -0.226422
+v -0.322398 -0.552428 -0.202699
+v -0.322398 -0.535873 -0.226422
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+vn 0 0.5722771810873853 -0.8200602587655837
+vn 0 -0.5722771810873853 0.8200602587655837
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b4f25b09ea030ab675a8019f70dad0bfdf788
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-26.obj
@@ -0,0 +1,1291 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-27.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-27.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22de0e59291b8fdf7363a619a4eea8ad00638fe4
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e41ac7e8fd3922f52bc35a6877fcf2e14fac6d8
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50d32a58ca7aaee24f57df461cbaace1eafcdcb9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b32a2b1fbdc17f0b9ccf5d6b3d560684127acc0d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c6907d4bbf295c46e1262da5869f54181d9b4f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ef1b70c1febfba1cb27c4302684d84f0ff37db
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-8.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/FoldingChair/100587/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..079137216d0ffa3b322b1854f7d6b93dcca397e8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa9313e5d7498c099e776f1b0085a3569ca50c29
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100587/textured_objs/original-9.obj
@@ -0,0 +1,1285 @@
+# SSTK version 0.8.0
+# 9
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diff --git a/data/PartNet-Mobility/FoldingChair/100590/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100590/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3a3af2021487a7740702d6c27ae2529b58dd46
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.440492, -0.856016, -0.359807], "max": [0.414842, 0.743117, 0.531449]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100590/images/texture_0.jpg b/data/PartNet-Mobility/FoldingChair/100590/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eade35831e34322ff007dc57f4c5015961302b9a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2263c82eba2f77bbd44bae236509f7dd0ddd8868f3d00c72554a415927e7c1
+size 2956
diff --git a/data/PartNet-Mobility/FoldingChair/100590/images/texture_1.jpg b/data/PartNet-Mobility/FoldingChair/100590/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/FoldingChair/100590/meta.json b/data/PartNet-Mobility/FoldingChair/100590/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5c2ed78f45c41a3fd5fbd152216269e0057495
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "bdeb8ea8a146bf69e54cb890e8682c84", "version": "1", "anno_id": "590", "time_in_sec": "6"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100590/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100590/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db0bfa5f1a50e714642939e01496eea8e7a54875
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_bdeb8ea8a146bf69e54cb890e8682c84">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.08972166179816356 -0.07245721238199629"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.08972166179816356 -0.07245721238199629"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.08972166179816356 0.07245721238199629"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.9980529276831083"/>
+	</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-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.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/FoldingChair/100590/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100590/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dcc128888f80019dd8bd9b9b3ef8825be592286
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.08972166179816356, 0.07245721238199629], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -114.47999999999999, "noLimit": false}}}, {"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/FoldingChair/100590/result.json b/data/PartNet-Mobility/FoldingChair/100590/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2201f51db880784154fd99c5449de17c1b3a75
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-11"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-9", "original-6", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100590/result_original.json b/data/PartNet-Mobility/FoldingChair/100590/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f1e19270458f18d36c8f425233aa2efc0b9b35
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-11"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100590/semantics.txt b/data/PartNet-Mobility/FoldingChair/100590/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83298d46172c5e6978a47384b60b296e13bda3e3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16983cbd05606efe0b4851e173ef810ed3624e81
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-10.obj
@@ -0,0 +1,2131 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100590/textured_objs/original-6.obj
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<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-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-71.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-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-5.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-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.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-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_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/FoldingChair/100598/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100598/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a94532a2f2e6e25213b210f3ad2c696986da24b6
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"seat","parts":[{"id":1,"name":"seat","children":[]}],"jointData":{"axis":{"origin":[0,-0.014787815241159439,0.34894700915446214],"direction":[1,0,0]},"limit":{"a":-5.399999999999977,"b":128.88,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"backlegs","parts":[{"id":2,"name":"backlegs","children":[]}],"jointData":{"axis":{"origin":[0,-0.23325472324216998,0.11861900661748728],"direction":[1,0,0]},"limit":{"a":0,"b":-56.879999999999995,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100598/result.json b/data/PartNet-Mobility/FoldingChair/100598/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e92e0a50504db4b5eabf07996caeffff296012f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-65", "original-42", "original-39", "original-48", "original-54", "original-51", "original-63", "original-57", "original-60", "original-66", "original-67", "original-43", "original-45", "original-40", "original-49", "original-55", "original-52", "original-64", "original-58", "original-61", "original-46"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-68", "original-36", "original-70", "original-69"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-29", "original-30", "original-28", "original-71", "original-22", "original-26", "original-4", "original-33", "original-16", "original-8", "original-13", "original-5", "original-31", "original-23", "original-11", "original-34", "original-25", "original-17", "original-20", "original-32", "original-7", "original-1", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100598/result_original.json b/data/PartNet-Mobility/FoldingChair/100598/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..57dc648e37a6264fa94c63ec9bea182ace94ddc7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-65", "original-42", "original-39", "original-48", "original-54", "original-51", "original-63", "original-57", "original-60", "original-66", "original-67", "original-43", "original-45", "original-40", "original-49", "original-55", "original-52", "original-64", "original-58", "original-61", "original-46"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-68", "original-36", "original-70", "original-69"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100598/semantics.txt b/data/PartNet-Mobility/FoldingChair/100598/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12e85eca54f89d9ff90cc12ad82e0c352474849
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 hinge leg
+link_2 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-1.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/FoldingChair/100598/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c42cdabce4dec8caf826d224dfb881c1524f2d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-1.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group2/mesh1/mesh1-geometry#mesh1-geometry
+v -0.415984 0.669241 -0.376834
+v 0.362173 0.688406 -0.340791
+v -0.415984 0.688406 -0.340791
+v 0.362173 0.669241 -0.376834
+v -0.415984 0.749498 -0.373274
+v 0.362173 0.730334 -0.409317
+v 0.362173 0.749498 -0.373274
+v -0.415984 0.730334 -0.409317
+vt -0.013889 0.259825
+vt 0 0
+vt 0 0.259825
+vt -0.013889 0
+vt 0.020833 0.259825
+vt 0.020833 0
+vt 0 0.013889
+vt -0.020833 0
+vt 0.020833 0.013889
+vt -0.020833 0.259825
+vt 0.013889 0.259825
+vt 0.013889 0
+vn 0 -0.8829475013608371 0.4694717348687292
+vn 0 0.4694717348687292 0.8829475013608371
+vn -1 0 0
+vn 0 -0.4694717348687292 -0.8829475013608371
+vn 0 0.8829475013608371 -0.4694717348687292
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/2/2 5/5/2 3/3/2
+f 5/6/3 1/7/3 3/2/3
+f 1/3/4 6/8/4 4/2/4
+f 5/5/2 2/2/2 7/6/2
+f 1/7/3 5/6/3 8/9/3
+f 6/8/4 1/3/4 8/10/4
+f 7/2/5 8/11/5 5/3/5
+f 8/11/5 7/2/5 6/12/5
+usemtl material_1_0
+f 3//5 2//5 1//5
+f 4//5 1//5 2//5
+f 3//4 5//4 2//4
+f 3//6 1//6 5//6
+f 4//2 6//2 1//2
+f 7//4 2//4 5//4
+f 8//6 5//6 1//6
+f 8//2 1//2 6//2
+f 5//1 8//1 7//1
+f 6//1 7//1 8//1
diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/FoldingChair/100598/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74f0a817cfdfb92891f5c4f32eb1239afa5b3f02
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-10.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
+v -0.269191 0.264706 -0.126292
+v -0.332011 0.724663 -0.370855
+v -0.332011 0.264706 -0.126292
+v -0.269191 0.724663 -0.370855
+v -0.332011 0.255124 -0.144313
+v -0.269191 0.715081 -0.388877
+v -0.332011 0.715081 -0.388877
+v -0.269191 0.255124 -0.144313
+vt -0.042069 0.156852
+vt -0.021094 0
+vt -0.021094 0.156852
+vt -0.042069 0
+vt 0 0.003963
+vt -0.156852 0.010907
+vt -0.156852 0.003963
+vt 0.156852 0.003963
+vt 0 0.010907
+vt 0.042069 0.010907
+vt 0.021094 0.003963
+vt 0.042069 0.003963
+vt 0.156852 0.010907
+vt 0.021094 0.010907
+vt 0.042069 0
+vt 0.021094 0.156852
+vt 0.021094 0
+vt 0.042069 0.156852
+vn 0 0.4694717348687292 0.8829475013608371
+vn -1 0 0
+vn 1 0 0
+vn 0 0.8829475013608371 -0.4694717348687292
+vn 0 -0.4694717348687292 -0.8829475013608371
+vn 0 -0.8829475013608371 0.4694717348687292
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 2/5/2 5/6/2 3/7/2
+f 1/8/3 6/9/3 4/5/3
+f 6/10/4 2/11/4 4/12/4
+f 5/6/2 2/5/2 7/9/2
+f 6/9/3 1/8/3 8/13/3
+f 2/11/4 6/10/4 7/14/4
+f 6/15/5 5/16/5 7/17/5
+f 5/16/5 6/15/5 8/18/5
+usemtl material_1_0
+f 3//5 2//5 1//5
+f 4//5 1//5 2//5
+f 3//3 5//3 2//3
+f 4//2 6//2 1//2
+f 4//6 2//6 6//6
+f 7//3 2//3 5//3
+f 8//2 1//2 6//2
+f 7//6 6//6 2//6
+f 7//1 5//1 6//1
+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-11.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/FoldingChair/100598/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ad0705cd1557a9333d3fadb309b37078a2dee6d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-11.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
+v -0.269191 0.692952 -0.377111
+v -0.258792 0.702534 -0.359089
+v -0.269191 0.702534 -0.359089
+v -0.258792 0.692952 -0.377111
+vt -0.042069 0.010907
+vt -0.045542 0.003963
+vt -0.042069 0.003963
+vt -0.045542 0.010907
+vn 0 -0.8829475013608371 0.4694717348687292
+vn 0 0.8829475013608371 -0.4694717348687292
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-13.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/FoldingChair/100598/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc40bb588cb249b33bb702c9ba48d9ff866c5b67
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-13.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-14.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-14.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-16.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-16.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-17.obj
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+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-17.obj
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+# SSTK version 0.8.0
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+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-19.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-19.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-20.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-20.mtl
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+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-20.obj
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+# SSTK version 0.8.0
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+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-22.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..648ca56108cd9df958c7858bbefed673d928852a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-23.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-23.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-23.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-23.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-39.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9837a8fbc0107782d517aebc9e3fcecee1a8814c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-39.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62da6ff535633a1b4b0ef12df848095274655695
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-4.obj
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+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.obj
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index 0000000000000000000000000000000000000000..26657050d119e59fd8e14c48eafd48f52f3699fe
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-40.obj
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+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-42.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-42.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..514a1651ce2d906f28a1c487d77519aa201ab2ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-42.obj
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+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a5715183149273678aa2ff69cf1f7f22b43f2a4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-43.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04a359fd3477177767ea9e0789afa44100bdec9e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-45.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.obj
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index 0000000000000000000000000000000000000000..7a2354e299448a084aa79d231f79c225c3d1c91b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-46.obj
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+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-48.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-48.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-48.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68b688211f7f0b8d5d55d67cad711a87e1e9dfbb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-48.obj
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+# SSTK version 0.8.0
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+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.mtl
@@ -0,0 +1,15 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.obj
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index 0000000000000000000000000000000000000000..cfba01ebad4de9e44d7bff8cc1e4a8bc63f95fa4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-49.obj
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+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..d639918b170455c35a8c25c4cedcd8fd5a8be0a3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-5.obj
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+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b26c5e6149e8af937364a9d5dfa9994a2f1be313
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-51.obj
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+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.obj
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index 0000000000000000000000000000000000000000..e68d219ab30490c11b26e347e8bb959d43c6e533
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-52.obj
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+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-54.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-54.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-54.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4ca950fdd1bfb4d5349e720bd8177687e96dd76
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-54.obj
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+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..829e120e5a59bda8f302ff139a344dc8b29721bb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-55.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa9b0246a193e829bf7c8114ec2fa949724f2af
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-57.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
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+mtllib original-57.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.obj
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index 0000000000000000000000000000000000000000..1ebc68e2950b926f36815c42ff9c75033eb2daef
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-58.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-60.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-60.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-60.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..717876fc771635eaec33b92a38cb1ad32a60c0ed
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-60.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5950ade9cb04e272adac5a32d89c3f3e41dc045
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100598/textured_objs/original-8.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o mesh6/mesh6-geometry#mesh6-geometry
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+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/FoldingChair/100599/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100599/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..01d44723238648a7f30511d5d32fa89a9068be01
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.579456, -0.754801, -0.490906], "max": [0.554436, 0.77438, 0.604453]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100599/meta.json b/data/PartNet-Mobility/FoldingChair/100599/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..011ff2da02ee081ffd1ad077576800b8447b35c2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "d5c67068390ece634060d2cb099a78b3", "version": "1", "anno_id": "599", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100599/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100599/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd84db8c5a69b0262122225544c889b024fe8a44
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d5c67068390ece634060d2cb099a78b3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.059929941955778686 -0.045274132104823436"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.059929941955778686 -0.045274132104823436"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.059929941955778686 0.045274132104823436"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.142566189748239"/>
+	</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-5.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-5.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/FoldingChair/100599/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100599/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7d4829c9c2159d174a33acecea016fb134dca08
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.059929941955778686, 0.045274132104823436], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -122.75999999999999, "noLimit": false}}}, {"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/FoldingChair/100599/result.json b/data/PartNet-Mobility/FoldingChair/100599/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f964160184eaeddaa96591735471cf05e7b8d4d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-2", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100599/result_original.json b/data/PartNet-Mobility/FoldingChair/100599/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100599/semantics.txt b/data/PartNet-Mobility/FoldingChair/100599/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+
+newmtl material_1_0
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+d 1
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8831cf182f481a206964b1e7459116cf568c31b1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-1.obj
@@ -0,0 +1,633 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61198a48b34d89df583772c4037226d66869ab00
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..332f7dcec6600b23f48dbc2d9c5388eb40df964d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-3.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62957404980f877b015202102ef78fc3f1c8627
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+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/FoldingChair/100599/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc20189f2977d7dcc34b4f1e1870d731b05634f5
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100599/textured_objs/original-5.obj
@@ -0,0 +1,264 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100600/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d860c555b159791dc9e905a1339954e2c0f71081
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.413238, -0.799449, -0.414491], "max": [0.425394, 0.743908, 0.506851]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100600/meta.json b/data/PartNet-Mobility/FoldingChair/100600/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0687b9ede62018a0b61590aad97843b3ede87929
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "d5d18ba694ad228346b9f3b6ee20ff4b", "version": "1", "anno_id": "600", "time_in_sec": "5"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100600/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100600/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a4a7f0752c2d38a36f5e46f04cc4bac3513eefe
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/mobility.urdf
@@ -0,0 +1,152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d5d18ba694ad228346b9f3b6ee20ff4b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.10566793956622236 -0.07696770993643427"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.10566793956622236 -0.07696770993643427"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.10566793956622236 0.07696770993643427"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.0985838925979814"/>
+	</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-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-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-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-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-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-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/FoldingChair/100600/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100600/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0372b04a594d55875efbd1cd58febcbdadf9c930
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.10566793956622236, 0.07696770993643427], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -120.23999999999998, "noLimit": false}}}, {"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/FoldingChair/100600/result.json b/data/PartNet-Mobility/FoldingChair/100600/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe4399b1ba5736e0e314c1744b1c621aec1a5c79
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-13", "original-9", "original-5", "original-6", "original-12", "original-7", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100600/result_original.json b/data/PartNet-Mobility/FoldingChair/100600/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100600/semantics.txt b/data/PartNet-Mobility/FoldingChair/100600/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a331748137f376566b048c597dca45f839d59eb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-1.obj
@@ -0,0 +1,225 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o group_0/ID3#ID3
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+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/FoldingChair/100600/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b3fd9d7dbe35a8df3d43112476bf83ab2e0f8d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-10.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID56
+v -0.382378 0.037432 -0.030846
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+usemtl material_1_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ee775f75c81e935856b6b9709536976834508b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-12.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o #ID64
+v 0.397658 0.043422 -0.043120
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d88a1fedc7bc870f46f0033d55d325a0f92f5a9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-13.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o #ID70
+v 0.421259 0.037432 -0.019625
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56af76683d98aea734d57b9eff5b8ebe34cb8a32
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ca2c41a38b48a62b92a0d4763ed7e1d729ad0d5
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b091d959ca28f48460e8518e6e2da7a0bddb2307
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-4.obj
@@ -0,0 +1,51 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51085098cc06c585dea692db4e36a0b549d8ddd0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-5.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
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+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1aae7ff34d352d830cb4111e5a5c32149626d5
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-6.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd504de7163c011e84752e496ec09baa0b57f29d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-7.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa5aac0a86e161fe6b0725598b496b2f4f98b26
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100600/textured_objs/original-9.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
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+f 12//1 7//4 11//1
+f 1//1 13//4 4//1
+f 13//4 1//1 14//4
+f 15//2 6//3 16//2
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+f 10//3 14//4 9//3
+f 14//4 10//3 13//4
+f 16//2 12//1 15//2
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100608/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0de4012b7a3d21b9a4dbd5082713e7ad1e7f3d3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.509475, -0.812519, -0.550659], "max": [0.50641, 0.903092, 0.582965]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100608/images/texture_0.png b/data/PartNet-Mobility/FoldingChair/100608/images/texture_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..59d4c846b686f1932036c8a4b0bf6cd9cdc0c1f0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/images/texture_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4cea0b501a75d8a4634967e26b034384b79916bd6869d59394e1c340e2d3e9
+size 842770
diff --git a/data/PartNet-Mobility/FoldingChair/100608/meta.json b/data/PartNet-Mobility/FoldingChair/100608/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..766fe5c585a9aa56dec5b09cdb0d3a91da1e12a3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "ea5a26bf-9785-47f0-9c10-d3cb1a5837c5", "version": "1", "anno_id": "608", "time_in_sec": "139"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100608/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100608/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f4c65a1014aa3baaf004d97d0ea33c2b52cd14e3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/mobility.urdf
@@ -0,0 +1,125 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ea5a26bf-9785-47f0-9c10-d3cb1a5837c5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.10554060569206271 -0.11647756664641185"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.10554060569206271 0.11647756664641185"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="0.3895574890451342"/>
+	</joint>
+	<link name="link_1">
+		<visual name="backlegs-2">
+			<origin xyz="0 -0.7271040656486482 0.13020060300454545"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="backlegs-2">
+			<origin xyz="0 -0.7271040656486482 0.13020060300454545"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.7271040656486482 0.13020060300454545"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.7271040656486482 0.13020060300454545"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.7271040656486482 -0.13020060300454545"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="0.6094689747964201"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_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/FoldingChair/100608/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100608/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..66882ab9dd86279c006b9f49b9e22be3a6aa151e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, 0.10554060569206271, 0.11647756664641185], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -22.319999999999993, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "backlegs", "parts": [{"id": 2, "name": "backlegs", "children": []}], "jointData": {"axis": {"origin": [0, 0.7271040656486482, -0.13020060300454545], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -34.920000000000016, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100608/result.json b/data/PartNet-Mobility/FoldingChair/100608/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb92db89e5f86b23605c01469166dd9328af30a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3", "original-4", "original-2"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-10", "original-11"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-8", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100608/result_original.json b/data/PartNet-Mobility/FoldingChair/100608/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..95edb3b16139a5a53c7739c2b7d2dafc7db41595
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3", "original-4", "original-2"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-10", "original-11"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100608/semantics.txt b/data/PartNet-Mobility/FoldingChair/100608/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12e85eca54f89d9ff90cc12ad82e0c352474849
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 hinge leg
+link_2 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4893103e36359d7c96509a078ffbf2ed641b6fa7
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-10.obj
@@ -0,0 +1,5618 @@
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+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
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+map_Kd ../images/texture_0.png
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..352f26d06348d4c88dfa0f28e6f35ad3098f5b05
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20166e99255149b7da77d5229139ccf3b1d02cd1
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbbfd239f103c43005fb9a1f77bec157ea0feeb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
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+map_Kd ../images/texture_0.png
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..439020686f6c5b8489ee2a23f85a3f3f69f0f11f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.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.png
+
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1b5aab3f9271c3bbd871c3df2fe01bd24fe48c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-6.obj
@@ -0,0 +1,4815 @@
+# SSTK version 0.8.0
+# 6
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ec346250cdcfb4856a0e83addc4a683d9adb8a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.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.png
+
diff --git a/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6db0de9ace55f21ef2155b0e66f4faa109f6f34e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100608/textured_objs/original-8.obj
@@ -0,0 +1,2593 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100609/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e79fe87d2a34e85727ab1fb2294ff5ab58d2a67
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.392836, -0.83223, -0.435064], "max": [0.408275, 0.634194, 0.527431]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100609/images/texture_0.jpg b/data/PartNet-Mobility/FoldingChair/100609/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d735126533c0f56c3e4940e4df4c248e44976651
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c55696b3aa905658683c3ddc6275dd9de7eabd52d1cb830bdf806d092e70f591
+size 1048
diff --git a/data/PartNet-Mobility/FoldingChair/100609/images/texture_1.jpg b/data/PartNet-Mobility/FoldingChair/100609/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..696914d693d5c2cf5750d13e39a4eab36fa2c145
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b52e78b18b64a11ca5719ec0b39fef5ec042ecf754197a6d6b8b661d102371
+size 22096
diff --git a/data/PartNet-Mobility/FoldingChair/100609/meta.json b/data/PartNet-Mobility/FoldingChair/100609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2805f04c4829cccd3ac1d97c7c1f617a1e706261
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "ee11a4009464a9ca86855a8015309d66", "version": "1", "anno_id": "609", "time_in_sec": "61"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100609/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100609/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..966d7e489d69f7943373115ac353968b1d3bd736
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ee11a4009464a9ca86855a8015309d66">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.035852004289443 -0.0011007968094199957"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 0.035852004289443 -0.0011007968094199957"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.035852004289443 -0.0011007968094199957"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.035852004289443 -0.0011007968094199957"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.035852004289443 0.0011007968094199957"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.9603538158400313"/>
+	</joint>
+	<link name="link_1">
+		<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-8.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-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.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-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100609/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100609/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1994cf3480bcd611c376302347bb7c15bf4278e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.035852004289443, 0.0011007968094199957], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -112.32000000000002, "noLimit": false}}}, {"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/FoldingChair/100609/result.json b/data/PartNet-Mobility/FoldingChair/100609/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daa02e0605407f7f6e46658b7dd1c7f70769fd1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-4", "original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-8", "original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100609/result_original.json b/data/PartNet-Mobility/FoldingChair/100609/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..eddf958e880769d3480a2043a11405a15b55008b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-4", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100609/semantics.txt b/data/PartNet-Mobility/FoldingChair/100609/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/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/FoldingChair/100609/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c21edd6c7ec3e1636ead645e5916f6d5f8daf2a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-1.obj
@@ -0,0 +1,6774 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v 0.325656 -0.052117 -0.152235
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-2.mtl
new file mode 100644
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--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2129769fab7437acd717519c0e3af7b9fdaf38
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.mtl
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+map_Kd ../images/texture_1.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c2c137e3f7a2af0bebb931e79f373e352460cd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc61ed27d5da6e00861d9a0a517c4a6992762dda
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-5.obj
@@ -0,0 +1,6593 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..76be63d0e6fa19bd1a9fc81e2ee70a91ac36f8e4
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.mtl
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+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..611c86878aff04047d9de053895d9bd3a4083571
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100609/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100611/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd234d915603ce97fb832f3f5bbeb044b788e39
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.423248, -0.812416, -0.449117], "max": [0.444048, 0.804695, 0.511724]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100611/meta.json b/data/PartNet-Mobility/FoldingChair/100611/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c968108cd586bb2f888bf1f8fda4292112c6e57
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "f01b78fb91692b3fd97de2831c42267f", "version": "1", "anno_id": "611", "time_in_sec": "5"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100611/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100611/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..755c5ee6dbf88874f850862cf87b370affc50101
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f01b78fb91692b3fd97de2831c42267f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.08537714779502 -0.0584348765859322"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.08537714779502 -0.0584348765859322"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.08537714779502 0.0584348765859322"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.086017521983622"/>
+	</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-8.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-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.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-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-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100611/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100611/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3edf3e0de3d36321ae6ab2cd64ff43016cd38c7d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.08537714779502, 0.0584348765859322], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -119.51999999999998, "noLimit": false}}}, {"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/FoldingChair/100611/result.json b/data/PartNet-Mobility/FoldingChair/100611/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b109a70b8803ac3c92362158b7aa126e4e54f9a1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-4", "original-3", "original-8", "original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100611/result_original.json b/data/PartNet-Mobility/FoldingChair/100611/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100611/semantics.txt b/data/PartNet-Mobility/FoldingChair/100611/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbb8288a451fbb126124b771907a17dbccb38bb6
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da15fe030cc995a7aef2999038d671785495bad8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..800fe049dae3bde84af800ec0d62b35b86cb855e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3476f4f23a9110b86a737d0b630ac4e941ae0fd2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da15fe030cc995a7aef2999038d671785495bad8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64125dba2ea232942d2b31de6f9765b3d00a500e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-5.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh6/mesh6-geometry#mesh6-geometry
+v 0.431408 0.660519 -0.355604
+v -0.410610 0.508579 -0.270666
+v 0.431408 0.508579 -0.270666
+v -0.410610 0.660519 -0.355604
+v 0.431408 0.503173 -0.280336
+v 0.422150 0.711537 -0.384125
+v -0.410610 0.503173 -0.280336
+v -0.401351 0.711537 -0.384125
+v -0.410610 0.655112 -0.365275
+v 0.389919 0.754858 -0.408342
+v 0.431408 0.655112 -0.365275
+v -0.369120 0.754858 -0.408342
+v -0.401351 0.706131 -0.393795
+v 0.340289 0.782991 -0.424069
+v 0.422150 0.706131 -0.393795
+v -0.319490 0.782991 -0.424069
+v 0.389919 0.749452 -0.418013
+v 0.281839 0.791072 -0.428587
+v -0.369120 0.749452 -0.418013
+v -0.261041 0.791072 -0.428587
+v -0.319490 0.777585 -0.433740
+v 0.340289 0.777585 -0.433740
+v 0.281839 0.785666 -0.438258
+v -0.261041 0.785666 -0.438258
+vn 0 0.48795685866990357 0.8728677471856774
+vn 0 -0.8728677471856774 0.48795685866990357
+vn 0 -0.48795685866990357 -0.8728677471856774
+vn 0 0.8728677471856774 -0.48795685866990357
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 4//1 1//1 6//1
+f 5//2 2//2 7//2
+f 4//1 6//1 8//1
+f 9//3 5//3 7//3
+f 8//1 6//1 10//1
+f 5//3 9//3 11//3
+f 8//1 10//1 12//1
+f 11//3 9//3 13//3
+f 12//1 10//1 14//1
+f 11//3 13//3 15//3
+f 12//1 14//1 16//1
+f 15//3 13//3 17//3
+f 16//1 14//1 18//1
+f 17//3 13//3 19//3
+f 16//1 18//1 20//1
+f 17//3 19//3 21//3
+f 17//3 21//3 22//3
+f 22//3 21//3 23//3
+f 23//3 21//3 24//3
+usemtl material_1_0
+f 3//3 2//3 1//3
+f 4//3 1//3 2//3
+f 3//4 5//4 2//4
+f 6//3 1//3 4//3
+f 7//4 2//4 5//4
+f 8//3 6//3 4//3
+f 7//1 5//1 9//1
+f 10//3 6//3 8//3
+f 11//1 9//1 5//1
+f 12//3 10//3 8//3
+f 13//1 9//1 11//1
+f 14//3 10//3 12//3
+f 15//1 13//1 11//1
+f 16//3 14//3 12//3
+f 17//1 13//1 15//1
+f 18//3 14//3 16//3
+f 19//1 13//1 17//1
+f 20//3 18//3 16//3
+f 21//1 19//1 17//1
+f 22//1 21//1 17//1
+f 23//1 21//1 22//1
+f 24//1 21//1 23//1
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da15fe030cc995a7aef2999038d671785495bad8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..365574a15b0638c4ad5321591b0a5908b08bec65
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-6.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Component_1_1/Component_1/mesh7/mesh7-geometry#mesh7-geometry
+v -0.423144 0.070735 -0.069471
+v -0.423144 -0.812416 -0.271975
+v -0.423144 0.064458 -0.045200
+v -0.423144 -0.806139 -0.296246
+v -0.398075 0.064458 -0.045200
+v -0.398075 -0.806139 -0.296246
+v -0.398075 -0.812416 -0.271975
+v -0.398075 0.070735 -0.069471
+vn -0.7071068251572525 0.17704495622298447 -0.6845838307264
+vn -0.7071068251572525 -0.17704495622298447 0.6845838307264
+vn 0.7071068251572525 -0.17704495622298447 0.6845838307264
+vn 0 0.9681476639056604 0.25037991308012775
+vn 0.7071068251572525 0.17704495622298447 -0.6845838307264
+vn 0 -0.9681476639056604 -0.25037991308012775
+usemtl material_0_0
+f 1//1 2//2 3//2
+f 2//2 1//1 4//1
+f 2//2 5//3 3//2
+f 5//4 1//4 3//4
+f 1//1 6//5 4//1
+f 5//3 2//2 7//3
+f 1//4 5//4 8//4
+f 6//5 1//1 8//5
+f 7//3 8//5 5//3
+f 8//5 7//3 6//5
+usemtl material_1_0
+f 3//5 2//5 1//3
+f 4//3 1//3 2//5
+f 3//5 5//1 2//5
+f 3//6 1//6 5//6
+f 4//3 6//2 1//3
+f 7//1 2//5 5//1
+f 8//6 5//6 1//6
+f 8//2 1//3 6//2
+f 5//1 8//2 7//1
+f 6//2 7//1 8//2
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da15fe030cc995a7aef2999038d671785495bad8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02574991ecc79d0396e45601914162e6998f7431
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-7.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Component_1_2/Component_1/mesh7/mesh7-geometry#mesh7-geometry
+v 0.418979 0.070735 -0.069471
+v 0.418979 -0.812416 -0.271975
+v 0.418979 0.064458 -0.045200
+v 0.418979 -0.806139 -0.296246
+v 0.444048 0.064458 -0.045200
+v 0.444048 -0.806139 -0.296246
+v 0.444048 -0.812416 -0.271975
+v 0.444048 0.070735 -0.069471
+vn -0.7071068251572525 0.17704495622298447 -0.6845838307264
+vn -0.7071068251572525 -0.17704495622298447 0.6845838307264
+vn 0.7071068251572525 -0.17704495622298447 0.6845838307264
+vn 0 0.9681476639056604 0.25037991308012775
+vn 0.7071068251572525 0.17704495622298447 -0.6845838307264
+vn 0 -0.9681476639056604 -0.25037991308012775
+usemtl material_0_0
+f 1//1 2//2 3//2
+f 2//2 1//1 4//1
+f 2//2 5//3 3//2
+f 5//4 1//4 3//4
+f 1//1 6//5 4//1
+f 5//3 2//2 7//3
+f 1//4 5//4 8//4
+f 6//5 1//1 8//5
+f 7//3 8//5 5//3
+f 8//5 7//3 6//5
+usemtl material_1_0
+f 3//5 2//5 1//3
+f 4//3 1//3 2//5
+f 3//5 5//1 2//5
+f 3//6 1//6 5//6
+f 4//3 6//2 1//3
+f 7//1 2//5 5//1
+f 8//6 5//6 1//6
+f 8//2 1//3 6//2
+f 5//1 8//2 7//1
+f 6//2 7//1 8//2
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da15fe030cc995a7aef2999038d671785495bad8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7490196078431373 0.7490196078431373 0.7490196078431373 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3edcb61836083cbf28573c49fba24149060bb46
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100611/textured_objs/original-8.obj
@@ -0,0 +1,34 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Component_2_2/Component_2/mesh4/mesh4-geometry#mesh4-geometry
+v 0.418979 -0.598700 -0.240518
+v -0.398180 -0.604197 -0.221720
+v -0.398180 -0.598700 -0.240518
+v 0.418979 -0.604197 -0.221720
+v -0.398180 -0.579902 -0.235021
+v 0.418979 -0.585399 -0.216223
+v 0.418979 -0.579902 -0.235021
+v -0.398180 -0.585399 -0.216223
+vn 0 -0.4802234028312081 -0.8771462155041285
+vn 0 -0.8771462155041285 0.4802234028312081
+vn 0 0.8771462155041285 -0.4802234028312081
+vn 0 0.4802234028312081 0.8771462155041285
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 2//2 1//1 4//2
+f 5//3 1//1 3//1
+f 6//4 2//2 4//2
+f 1//1 5//3 7//3
+f 2//2 6//4 8//4
+f 5//3 6//4 7//3
+f 6//4 5//3 8//4
+usemtl material_1_0
+f 3//4 2//3 1//4
+f 4//3 1//4 2//3
+f 3//4 1//4 5//2
+f 4//3 2//3 6//1
+f 7//2 5//2 1//4
+f 8//1 6//1 2//3
+f 7//2 6//1 5//2
+f 8//1 5//2 6//1
diff --git a/data/PartNet-Mobility/FoldingChair/100616/bounding_box.json b/data/PartNet-Mobility/FoldingChair/100616/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..742b0acad6c29ca1605d78c11b3b5a223087c6ec
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.457906, -0.834431, -0.465013], "max": [0.446735, 0.792242, 0.52655]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100616/meta.json b/data/PartNet-Mobility/FoldingChair/100616/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09a4df294517fb332f5b5651f791a25d04d592fd
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "fff29a99be0df71455a52e01ade8eb6a", "version": "1", "anno_id": "616", "time_in_sec": "32"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100616/mobility.urdf b/data/PartNet-Mobility/FoldingChair/100616/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ef6b46da6075108e8d26ff5a228629785147ab9
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fff29a99be0df71455a52e01ade8eb6a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.07368397020816254 -0.04321239935606716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.07368397020816254 -0.04321239935606716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.07368397020816254 0.04321239935606716"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.1111502632123407"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/100616/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/100616/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c91e90fcfd5e2153b601fa8a44f6854dade004
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.07368397020816254, 0.04321239935606716], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -120.95999999999998, "noLimit": false}}}, {"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/FoldingChair/100616/result.json b/data/PartNet-Mobility/FoldingChair/100616/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6030c97b227014cc559b84593a7df08fc1fa9e1f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100616/result_original.json b/data/PartNet-Mobility/FoldingChair/100616/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/100616/semantics.txt b/data/PartNet-Mobility/FoldingChair/100616/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c683531ca2c7e86a54a869f4b0753c2210262439
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.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 0.4 0.4 0.4 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7beca15e4e9db7774386d741b4d74ebc0c0a19bc
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-1.obj
@@ -0,0 +1,600 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e45305ca5dc804825479db50827117d57a75be
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-5.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/FoldingChair/100616/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b505981742811333c3282809d4bce81376db531f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-5.obj
@@ -0,0 +1,2251 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-6.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/FoldingChair/100616/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23296a0922095017246a418ae6264deb8ce35593
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-6.obj
@@ -0,0 +1,2251 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f24f5356173cf1a2742bd31c6155690a29898d11
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diff --git a/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/100616/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e081d91fa590c1c65ba39842dd0e3792050a13
--- /dev/null
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+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-2">
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-2">
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-2">
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-2">
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-2">
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 -0.007995042324631685 -0.012001708019524805"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 0.007995042324631685 0.012001708019524805"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="-0.0" upper="1.97292018645439"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/102255/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/102255/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4d44f2ce14ae9c312645dea8cc1bfdd0c38c2f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}, {"id": 2, "name": "outlier", "children": []}], "jointData": {"axis": {"origin": [0, 0.007995042324631685, 0.012001708019524805], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -113.03999999999999, "noLimit": false}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102255/result.json b/data/PartNet-Mobility/FoldingChair/102255/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c467453ab3a9063cbfb27c6ca2a713bcb3fd9c6f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-54", "original-48", "original-39", "original-46", "original-47", "original-34", "original-53", "original-36", "original-35", "original-32", "original-11"]}, {"text": "outlier", "name": "outlier", "id": 2, "objs": ["original-14", "original-51", "original-13", "original-52", "original-40", "original-41", "original-12", "original-49", "original-38", "original-50", "original-37"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-29", "original-21", "original-30", "original-28", "original-43", "original-22", "original-26", "original-4", "original-3", "original-33", "original-2", "original-44", "original-16", "original-8", "original-9", "original-45", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-7", "original-10", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102255/result_original.json b/data/PartNet-Mobility/FoldingChair/102255/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb159fca4fe7ef1589758c56a140bb6e934eee8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-54", "original-48", "original-39", "original-46", "original-47", "original-34", "original-53", "original-36", "original-35", "original-32", "original-11"]}, {"id": 2, "name": "outlier", "text": "outlier", "objs": ["original-14", "original-51", "original-13", "original-52", "original-40", "original-41", "original-12", "original-49", "original-38", "original-50", "original-37"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102255/semantics.txt b/data/PartNet-Mobility/FoldingChair/102255/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08937dd66dd0827273960366a83ae3488e40e706
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/semantics.txt
@@ -0,0 +1,2 @@
+link_0 free leg
+link_1 hinge seat
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f8e5cd28c2bd852794043bc7e97cac85ef5326f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-10.obj
@@ -0,0 +1,501 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh1/mesh1-geometry/material_1/component_1#mesh1-geometry
+v 0.347570 0.010827 0.019431
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-11.mtl
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index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-11.obj
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index 0000000000000000000000000000000000000000..52b9a6e801fccb32b4c8b6be16d7895622fb3d96
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-12.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-12.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72ffb326f6764a2f003b2ed28e878bdf3bf855fd
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc1a0b9fd0abc4d5439e2945d30f7088784975a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71db34108801fc1cf499952eb284e87a54247db3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-16.obj
@@ -0,0 +1,1187 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67f9a9e7ad4a49b1381273514b3f8e0005f843c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-17.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf8e3d6617453ef965ab6d0a0df2ec8f044f810
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-18.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bfba6e47673b6bd22442f146327efebc5cb0eef
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-19.obj
@@ -0,0 +1,501 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bad38046c1ce8025f723e9b29acf8dc9afcbb34
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-22.obj
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+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b4a8a2184b0b7d8ffed2dd373cf29ec1121a8a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-23.obj
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+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e92e362401b89ef62d8295776d661aaf7170f307
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-24.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
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+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cebf0d6afc5b105d4cfaa758290aae0d1f193b54
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-25.obj
@@ -0,0 +1,1387 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bef0b2a041732084d7ff266d94a4ac15a381220d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-26.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh1/mesh1-geometry/material_1/component_17#mesh1-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f1ae2dbfb53c7fd8c5291aeaaaf658e80e4d29
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-27.obj
@@ -0,0 +1,28 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33dffe7e2279f5cc73e8938608b0d412ab2b1f3d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-28.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh1/mesh1-geometry/material_1/component_19#mesh1-geometry
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7cff35d9ad9b879808168700784ab151d3478c74
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..076705dfaf1c4e7893e423dc4d588202ee5e3443
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-29.obj
@@ -0,0 +1,379 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a30f1baecc18ca30895bfc406770d359cfdb71e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.mtl
@@ -0,0 +1,8 @@
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_2.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af55ee2a81a88119e5939f665f496acf8e968f9c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-33.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a30f1baecc18ca30895bfc406770d359cfdb71e
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-33.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-33.obj
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index 0000000000000000000000000000000000000000..d126127c989ac4aa38490d59ea9681e76a0ec5ed
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-34.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-35.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-35.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-35.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-4.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-4.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-40.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-40.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db7af2fb4b57f94727f5b2faacf54296c1b7274
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-42.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b765b665bc7638680163f2bf3786052e089f852c
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-43.obj
@@ -0,0 +1,870 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-44.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
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+map_Kd ../images/texture_3.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-44.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62aa818738cc91b3c69f1b0540b9f8e219f842ed
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_3.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4da5de207221d8fb9c0345167452b0a7b431426
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-45.obj
@@ -0,0 +1,870 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-49.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-49.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-51.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c794b0f0a1c54bcd5152cd3f14239553bd6fc2b2
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-7.obj
@@ -0,0 +1,953 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d222fc0fc633c9a8a6b98fe22e969edacc6e017
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5caa410654ba34a4185e10bd9444f2cb69d8b91b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.mtl b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.obj b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b5a0359f4f01090e11bef690e0d9c84cdbd01a0
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102255/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/bounding_box.json b/data/PartNet-Mobility/FoldingChair/102263/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..b67cbbb7889a53710e418b459745e9020c9af78d
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.394628, -0.734097, -0.464834], "max": [0.410449, 0.612905, 0.602078]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102263/images/texture_0.jpg b/data/PartNet-Mobility/FoldingChair/102263/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..ccc015a59dfe999b3bcd173f64cea15c3f117a40
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61b9a8b207a613ea90db25647f668a0605c196c6d3eab311aaff496e52f62b33
+size 1395
diff --git a/data/PartNet-Mobility/FoldingChair/102263/meta.json b/data/PartNet-Mobility/FoldingChair/102263/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..845916d1fe7df620d48ac100a9f4a4c2a3fbdefb
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "34166279ecffce32fba786d6c256035b-0", "version": "1", "anno_id": "2263", "time_in_sec": "8"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102263/mobility.urdf b/data/PartNet-Mobility/FoldingChair/102263/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1c92190ba519a4e95382b83e5f4ce222ab584a8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/mobility.urdf
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?>
+<robot name="partnet_34166279ecffce32fba786d6c256035b-0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.10086070829691451 -0.1419760362403467"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.10086070829691451 -0.1419760362403467"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 -0.10086070829691451 0.1419760362403467"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="2.2116812281272145"/>
+	</joint>
+	<link name="link_1">
+		<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-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-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-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-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/FoldingChair/102263/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/102263/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..962951e5d6a8b74d7653c749c21f68410bc5452a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.10086070829691451, 0.1419760362403467], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -126.72, "noLimit": false}}}, {"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/FoldingChair/102263/result.json b/data/PartNet-Mobility/FoldingChair/102263/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1868ac213c7c96b9f6f8430130425b37efa102d4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102263/result_original.json b/data/PartNet-Mobility/FoldingChair/102263/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3efc453a2f861776adfe1039e1a3e0da7bb89f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102263/semantics.txt b/data/PartNet-Mobility/FoldingChair/102263/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.mtl b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.mtl
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+newmtl material_0_0
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+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.obj b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aa39164363eb8b1d94c86ca0c1904e18e867f02
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-1.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2038b334289869a298796a83005c2da5395dfa5a
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f81c0162972a8c564521ea4770091c35314581
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-7.mtl b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
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diff --git a/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-7.obj b/data/PartNet-Mobility/FoldingChair/102263/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..11e1e5e128e5178f0a260feb9c758eaee660b2df
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/bounding_box.json b/data/PartNet-Mobility/FoldingChair/102269/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f404aa9e44bda859f5cdd088f5890911d29519
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.401533, -0.794209, -0.430228], "max": [0.417789, 0.645521, 0.528527]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102269/meta.json b/data/PartNet-Mobility/FoldingChair/102269/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac846098219a3f79a3f53a7719debb93ff43b9da
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "751c6292-5a5c-4892-a521-060408fe2e7d-1", "version": "2", "anno_id": "2269", "time_in_sec": "40"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102269/mobility.urdf b/data/PartNet-Mobility/FoldingChair/102269/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ed1b4e26b13455f976be810ac981b2f809f76f8
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/mobility.urdf
@@ -0,0 +1,125 @@
+<?xml version="1.0" ?>
+<robot name="partnet_751c6292-5a5c-4892-a521-060408fe2e7d-1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="seat-1">
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat-1">
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0 0.0 0.0"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="1.0304423903774524"/>
+	</joint>
+	<link name="link_1">
+		<visual name="backlegs-2">
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="backlegs-2">
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="backlegs-2">
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.008989341648229857 -0.03178389352868542"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0 -0.008989341648229857 0.03178389352868542"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.0" upper="1.0744246875277093"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-7.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/FoldingChair/102269/mobility_v2.json b/data/PartNet-Mobility/FoldingChair/102269/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe419f0fde4004e81b5d438b4827072f185c952
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.008989341648229857, 0.03178389352868542], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -59.04000000000002, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "backlegs", "parts": [{"id": 2, "name": "backlegs", "children": []}], "jointData": {"axis": {"origin": [0, -0.008989341648229857, 0.03178389352868542], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -61.56, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102269/result.json b/data/PartNet-Mobility/FoldingChair/102269/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21429ac8a883f237d667bbb5709e9b20fe608ed
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3", "original-2"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-11", "original-9", "original-10"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102269/result_original.json b/data/PartNet-Mobility/FoldingChair/102269/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..538bfd8608968b4ea3e228489a4387ff11945302
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3", "original-2"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-11", "original-9", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/FoldingChair/102269/semantics.txt b/data/PartNet-Mobility/FoldingChair/102269/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a12e85eca54f89d9ff90cc12ad82e0c352474849
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 hinge leg
+link_2 free leg
diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-10.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8e2aed5d9bfaef564357a9c5248c3e793ee2ee4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.12941176470588237 0.5333333333333333 0.12941176470588237 
+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/FoldingChair/102269/textured_objs/original-10.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ae9b397a92b09a1d5c183e456cb55f3a69dffcc
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-10.obj
@@ -0,0 +1,612 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8e2aed5d9bfaef564357a9c5248c3e793ee2ee4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efaff69959ec23a1d0c6a9a1979ab61695d6ee49
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-2.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc63755fd43298db424f08c4c4db13dbda94e25b
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-2.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cca25b6be21e107ab13f7dc70769e972ceb3adb
--- /dev/null
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc63755fd43298db424f08c4c4db13dbda94e25b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.12941176470588237 0.5333333333333333 0.12941176470588237 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e016bf48f2340b2ca07ec1cdbad5b084d23f88e3
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc63755fd43298db424f08c4c4db13dbda94e25b
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.12941176470588237 0.5333333333333333 0.12941176470588237 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56b42e52e79c5170f8c48e7edc481f3363dba5f
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-5.obj
@@ -0,0 +1,1399 @@
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diff --git a/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-6.mtl b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b8e2aed5d9bfaef564357a9c5248c3e793ee2ee4
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.12941176470588237 0.5333333333333333 0.12941176470588237 
+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/FoldingChair/102269/textured_objs/original-6.obj b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1400205f58f18e1d7f9969c2c7f8d2a3aff6b17e
--- /dev/null
+++ b/data/PartNet-Mobility/FoldingChair/102269/textured_objs/original-6.obj
@@ -0,0 +1,640 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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