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diff --git a/demo_data/Articulated/Laptop/10040/point_sample/ply-10000.ply b/demo_data/Articulated/Laptop/10040/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..92c4cab268851026d3f1c1e551cd1203eb000cfc
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diff --git a/demo_data/Articulated/Laptop/10040/point_sample/pts-10000.txt b/demo_data/Articulated/Laptop/10040/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..580de35bc63525cdec5dfcc767df568b6a79c222
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diff --git a/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-label-10000.txt b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5bc9ee970532ed20260e7ec778807e7929d465bc
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-label-10000.txt
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diff --git a/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-label-10000.ply b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..3f4db7c1d0ef185f7537a4143c16fcc31f81be6f
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-label-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..150d07782ab0f565cbc51af621daa25c0e826d5a
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..58518156a4eccac18e1682b7a8a3fc137400b04d
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/result.json
@@ -0,0 +1 @@
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diff --git a/demo_data/Articulated/Laptop/10040/result_after_merging.json b/demo_data/Articulated/Laptop/10040/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc9dabd6331dd8780e610226134fe0d6485bbbc3
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "ori_id": 0, "name": "laptop", "children": [{"id": 1, "ori_id": 5, "name": "screen_side", "children": [{"id": 2, "ori_id": 20, "text": "screen", "name": "screen", "objs": ["new-5"]}, {"id": 3, "ori_id": 21, "text": "screen_frame", "name": "screen_frame", "objs": ["new-6"]}], "text": "screen_side", "objs": ["new-5", "new-6"]}, {"id": 4, "ori_id": 6, "name": "base_side", "children": [{"id": 5, "ori_id": 12, "text": "keyboard", "name": "keyboard", "objs": ["new-0"]}, {"id": 6, "ori_id": 13, "text": "touchpad", "name": "touchpad", "objs": ["new-1", "new-3", "new-2"]}, {"id": 7, "ori_id": 14, "text": "base_frame", "name": "base_frame", "objs": ["new-4"]}], "text": "base_side", "objs": ["new-0", "new-1", "new-3", "new-2", "new-4", "original-12", "original-13", "original-14", "original-15", "original-16", "original-17", "original-18", "original-20", "original-19", "original-22", "original-21"]}], "text": "laptop", "objs": ["original-34", "new-5", "new-6", "new-0", "new-1", "new-3", "new-2", "new-4", "original-12", "original-13", "original-14", "original-15", "original-16", "original-17", "original-18", "original-20", "original-19", "original-22", "original-21", "original-2", "original-3", "original-5", "original-4", "original-6", "original-7", "original-8", "original-9", "original-10", "original-29", "original-24", "original-25", "original-26", "original-27", "original-28", "original-30", "original-31", "original-32"]}]
\ No newline at end of file
diff --git a/demo_data/Articulated/Laptop/10040/semantics.txt b/demo_data/Articulated/Laptop/10040/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..37f133815b203e720f32cef84926888f09ac759b
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/semantics.txt
@@ -0,0 +1,2 @@
+link_0 free laptop_base
+link_1 hinge screen
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-0.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/new-0.mtl
new file mode 100644
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-0.obj b/demo_data/Articulated/Laptop/10040/textured_objs/new-0.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-4.obj b/demo_data/Articulated/Laptop/10040/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..592e40e644fe8fe12d02fddbc4b94c2077f66862
--- /dev/null
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-5.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afd30fe1e5507b95ab3cd3b801d699adaa59e358
--- /dev/null
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-5.obj b/demo_data/Articulated/Laptop/10040/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13673d60e1743b5fdddabedd01c8beed689279aa
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/new-5.obj
@@ -0,0 +1,150 @@
+mtllib new-5.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-6.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afd30fe1e5507b95ab3cd3b801d699adaa59e358
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/new-6.mtl
@@ -0,0 +1,128 @@
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/new-6.obj b/demo_data/Articulated/Laptop/10040/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7bd123f8f786a6383729945525d8f14be668b882
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/new-6.obj
@@ -0,0 +1,83 @@
+mtllib new-6.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-10.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-10.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8936ae2acf370dee01e004a4699c4bfec50dee3c
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-10.obj
@@ -0,0 +1,347 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-12.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-12.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5095753c7e2ced7be878407670428db3b63f78
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-12.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-13.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-13.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b619160dfe37d9f2d8e0fae930fafeae8acc58cc
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-13.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-14.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-14.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c6911febbefff52a178cf7a1af2bbc41bc1c51c
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-14.obj
@@ -0,0 +1,147 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o mesh30/mesh30-geometry#mesh30-geometry
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-15.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-15.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-15.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d60f39dca356dcf6faaf6e816c37ac33835db7d8
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-15.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-16.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-16.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f8bafcb75a42574c7af84b39636dbe9d94afbe
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-16.obj
@@ -0,0 +1,209 @@
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+# 16
+mtllib original-16.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-17.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/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/demo_data/Articulated/Laptop/10040/textured_objs/original-17.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a2b0915cac863f8f4ad87cb0e2642e09c135cbd
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-17.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-18.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-18.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0847dff0164df5d4522b3eb6828a8744781c5cd9
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-18.obj
@@ -0,0 +1,631 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-19.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-19.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5583e8d0666c26d28acd269872c047411a3045b4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-19.obj
@@ -0,0 +1,631 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o mesh35/mesh35-geometry#mesh35-geometry
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-2.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-2.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df2c8e0c9e2a9b31f3e04259b634accfe3109cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-2.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v -0.601885 -0.082342 -0.088008
+v -0.604027 -0.096042 -0.079537
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-20.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-20.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a89132c252276ffd329d6ffcbd1bf1ac67143b91
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-20.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh36/mesh36-geometry#mesh36-geometry
+v 0.049229 -0.122858 0.712337
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-21.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-21.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ae1702af9a5958d8196b749aac28a0b124b686e
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-21.obj
@@ -0,0 +1,161 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
+v 0.065920 -0.123359 0.712860
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-22.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c6a22df559f5aaa785ef6c9f5ca91ed592b73c4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-22.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc783640c44513c1fa52aec73f74639550a18f70
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-22.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh38/mesh38-geometry#mesh38-geometry
+v 0.064244 -0.123359 0.712860
+v 0.057915 -0.124235 0.713774
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-24.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-24.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aecba59ae951750589a3dae280214eaa8af8854
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-24.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh63/mesh63-geometry#mesh63-geometry
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-25.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-25.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f32b47100d7d4b0108de2e090cd82d13d514ba43
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-25.obj
@@ -0,0 +1,593 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-26.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-26.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83bae89d167315621a7bb56a010c7305871db699
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-26.obj
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+# SSTK version 0.8.0
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-27.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-27.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99b00c3cbbea9a65ee851894cc17fd8de4d86d57
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-27.obj
@@ -0,0 +1,495 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-28.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-28.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3897815d5fcd88710b438f406af7f3bb704ff2c9
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-28.obj
@@ -0,0 +1,587 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-29.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-29.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed76a77e39a204455e0e6fff7a3e93332125630
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-29.obj
@@ -0,0 +1,489 @@
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-3.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-3.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba3b6407edf6f11de5fa200217f785c33f306430
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-3.obj
@@ -0,0 +1,607 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-30.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-30.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38393c7dc70e9a199f2e82d5c64ec89a291383e2
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-30.obj
@@ -0,0 +1,447 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-31.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-31.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-31.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9058ffc5d2a8b4140fb25f98e8c315288435a4d8
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-31.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-32.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-32.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d000840cf12aea110d6a37bed38d2568deace14
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-32.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-34.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b717f17e533266124b3fadee965dffa95383d347
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-34.mtl
@@ -0,0 +1,35 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+
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+illum 3
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+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-34.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..058bfbb5b75ff0e1505dbda458c5fb7128422c72
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-34.obj
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-4.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-4.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24c449d0a2dd82750b58dd53a4e5e3c8b3f8b8e1
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-4.obj
@@ -0,0 +1,495 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-5.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-5.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c48dd0bce30b680d38aa3bb03164802e3498c65d
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-5.obj
@@ -0,0 +1,623 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-6.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-6.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89c4d0d961c5afb0719f49b8b0170e90603efbf1
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-6.obj
@@ -0,0 +1,631 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-7.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-7.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-7.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..652a1b436bbd80d720d319c9ca1cd281b7bffaba
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-7.obj
@@ -0,0 +1,501 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-8.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-8.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8890b6d4db9e692d7f500b4fe3e870a1a5dc0128
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-8.obj
@@ -0,0 +1,495 @@
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diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-9.mtl b/demo_data/Articulated/Laptop/10040/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/demo_data/Articulated/Laptop/10040/textured_objs/original-9.obj b/demo_data/Articulated/Laptop/10040/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb05450a244476c21505c2959776243b4e512638
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/textured_objs/original-9.obj
@@ -0,0 +1,769 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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diff --git a/demo_data/Articulated/Laptop/10040/tree_hier.html b/demo_data/Articulated/Laptop/10040/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..8c64565e24baf113688e9a9a9d01fb40f5b25579
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/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 laptop Laptop</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 connector Connector</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 screen_side Screen Side</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 base_side Base Side</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 other decoration (other)</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr><tr><td><p>4 shaft Shaft</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 screen Screen</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 screen_frame Screen Frame</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 keyboard Keyboard</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 touchpad Touchpad</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 base_frame Base Frame</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 other decoration (other)</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 other_leaf other_leaf</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>22 other_leaf other_leaf</p><a href="parts_render/22.png"><img src="parts_render/22.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><p>17 touchpad_surface Touchpad Surface</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 button Button</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 button Button</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>16 other_leaf other_leaf</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/demo_data/Articulated/Laptop/10040/tree_hier_after_merging.html b/demo_data/Articulated/Laptop/10040/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..b28d6699a83643f0ace72857a9710e796ebf17a2
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10040/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 laptop laptop</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 screen_side screen_side</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 base_side base_side</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 screen screen</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 screen_frame screen_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><p>5 keyboard keyboard</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 touchpad touchpad</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 base_frame base_frame</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>
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diff --git a/demo_data/Articulated/Laptop/10239/bounding_box.json b/demo_data/Articulated/Laptop/10239/bounding_box.json
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+++ b/demo_data/Articulated/Laptop/10239/bounding_box.json
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+{"min": [-0.724725, -0.187021, -0.650675], "max": [0.685567, 0.468787, 0.811015]}
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa5fbcfe6105989cc2e8209811bdcf6ca4363493c9f874328a8529e6af1cb9e
+size 184949
diff --git a/demo_data/Articulated/Laptop/10239/images/texture_1.jpg b/demo_data/Articulated/Laptop/10239/images/texture_1.jpg
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/demo_data/Articulated/Laptop/10239/meta.json b/demo_data/Articulated/Laptop/10239/meta.json
new file mode 100644
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+++ b/demo_data/Articulated/Laptop/10239/meta.json
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+{"model_id": "4c7814676c42d67b902e12fe4da5924d", "anno_id": "10239", "user_id": "chuangda013", "time_in_sec": "409", "version": "2", "model_cat": "Laptop"}
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diff --git a/demo_data/Articulated/Laptop/10239/mobility.urdf b/demo_data/Articulated/Laptop/10239/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..338fb8440531e23fff61295451429e350f947cd1
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/mobility.urdf
@@ -0,0 +1,200 @@
+<?xml version="1.0" ?>
+<robot name="partnet_4c7814676c42d67b902e12fe4da5924d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="screen-7">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="screen_frame-8">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shaft-4">
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.685567 0.15 0.017779051745635082"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.685567 -0.15 -0.017779051745635082"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-2.356194490192345" upper="-0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="keyboard-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_frame-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-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/demo_data/Articulated/Laptop/10239/mobility_v2.json b/demo_data/Articulated/Laptop/10239/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f22d361f109908b097c910732d431d9c366d04
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"junk","name":"other_leaf","parts":[{"id":10,"name":"other_leaf"}],"jointData":{}},{"id":1,"parent":2,"joint":"hinge","name":"screen","parts":[{"id":7,"name":"screen"},{"id":8,"name":"screen_frame"},{"id":4,"name":"shaft"}],"jointData":{"axis":{"origin":[0.685567,-0.15,-0.017779051745635082],"direction":[1,0,0]},"limit":{"a":135,"b":0,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"keyboard","parts":[{"id":5,"name":"keyboard"},{"id":6,"name":"base_frame"}],"jointData":{}}]
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+version https://git-lfs.github.com/spec/v1
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/ply-10000.ply b/demo_data/Articulated/Laptop/10239/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..beb3a80f8c79e85b4f92e8849330c3a1e9dcd38c
--- /dev/null
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/pts-10000.txt b/demo_data/Articulated/Laptop/10239/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..05cc5c84dba6547ef86e75a985cd400f089c2d4d
--- /dev/null
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-label-10000.txt b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef66df49a3c94963b37bd52a256e06f215b73bbb
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-label-10000.txt
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-label-10000.ply b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..89866ae512b150b527551d5440bae8f467a851b1
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-nor-rgba-10000.ply
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diff --git a/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7bed0d585e09b6b6c8684087e020ed2190985594
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/demo_data/Articulated/Laptop/10239/result.json b/demo_data/Articulated/Laptop/10239/result.json
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diff --git a/demo_data/Articulated/Laptop/10239/result_after_merging.json b/demo_data/Articulated/Laptop/10239/result_after_merging.json
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\ No newline at end of file
diff --git a/demo_data/Articulated/Laptop/10239/semantics.txt b/demo_data/Articulated/Laptop/10239/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9dc051b218bac329870e4c8a7dbb6449673a546
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge screen
+link_1 free laptop_base
diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/new-0.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/new-0.mtl
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\ No newline at end of file
diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/new-2.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b895bf8dba869c27e10629de05823fa03b41b12
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/new-2.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/new-3.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b895bf8dba869c27e10629de05823fa03b41b12
--- /dev/null
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+f 1906//135 1892//135 1871//135
+f 1892//122 1895//122 1850//122
+f 1896//127 1893//127 1778//127
+f 1893//124 1907//124 1871//124
+f 1894//198 1872//198 1893//198
+f 1895//198 1907//198 1872//198
+f 1876//127 1874//127 1873//127
+f 1896//198 1874//198 1852//198
+f 1893//198 1896//198 1875//198
+f 1891//198 1894//198 1875//198
+f 1897//135 1798//135 1902//135
+f 1877//135 1897//135 1908//135
+f 1884//135 1901//135 1858//135
+f 1878//122 1899//122 1880//122
+f 1878//198 1885//198 1909//198
+f 1900//135 1899//135 1879//135
+f 1902//135 1798//135 1899//135
+f 1900//122 1880//122 1899//122
+f 1904//127 1901//127 1883//127
+f 1897//127 1902//127 1864//127
+f 1885//122 1902//122 1910//122
+f 1911//198 1903//198 1886//198
+f 1864//124 1903//124 1897//124
+f 1886//122 1877//122 1911//122
+f 1904//135 1858//135 1901//135
+f 1898//127 1887//127 1888//127
+f 1894//198 1891//198 1890//198
+f 1905//198 1890//198 1891//198
+f 1906//127 1907//127 1892//127
+f 1906//124 1871//124 1907//124
+f 1895//127 1892//127 1907//127
+f 1893//198 1872//198 1907//198
+f 1894//198 1893//198 1875//198
+f 1912//135 1908//135 1897//135
+f 1908//122 1911//122 1877//122
+f 1899//127 1878//127 1913//127
+f 1885//198 1910//198 1909//198
+f 1909//127 1913//127 1878//127
+f 1899//135 1913//135 1902//135
+f 1914//122 1910//122 1902//122
+f 1903//127 1911//127 1912//127
+f 1912//124 1897//124 1903//124
+f 1908//127 1912//127 1911//127
+f 1915//198 1909//198 1910//198
+f 1909//124 1915//124 1913//124
+f 1902//135 1913//135 1914//135
+f 1914//127 1916//127 1910//127
+f 1915//127 1910//127 1916//127
+f 1916//124 1913//124 1915//124
+f 1916//135 1914//135 1913//135
+usemtl material-188
+f 461/5/198 465/4/198 455/1/198
+f 470/6/198 459/3/198 464/2/198
+f 497/16/198 480/11/198 485/10/198
+f 476/7/198 504/17/198 489/12/198
+f 491/13/198 506/19/198 482/9/198
+f 510/21/198 494/15/198 483/14/198
+f 522/23/198 489/12/198 504/17/198
+f 521/24/198 505/18/198 481/8/198
+f 506/19/198 523/25/198 482/9/198
+f 513/31/198 533/32/198 499/22/198
+f 523/25/198 546/33/198 482/9/198
+f 523/25/198 506/19/198 547/34/198
+f 524/26/198 549/35/198 506/19/198
+f 546/33/198 581/45/198 482/9/198
+f 546/33/198 523/25/198 582/46/198
+f 547/34/198 506/19/198 583/47/198
+f 523/25/198 547/34/198 584/48/198
+f 549/35/198 586/50/198 506/19/198
+f 549/35/198 524/26/198 587/51/198
+f 574/54/198 554/38/198 525/27/198
+f 526/28/198 555/40/198 592/55/198
+f 577/61/198 580/62/198 540/39/198
+f 621/63/198 541/44/198 578/43/198
+f 581/45/198 622/64/198 482/9/198
+f 581/45/198 546/33/198 623/65/198
+f 582/46/198 523/25/198 624/66/198
+f 582/46/198 625/67/198 546/33/198
+f 506/19/198 626/68/198 583/47/198
+f 547/34/198 628/69/198 584/48/198
+f 506/19/198 586/50/198 633/72/198
+f 587/51/198 524/26/198 635/73/198
+f 549/35/198 587/51/198 636/74/198
+f 644/81/198 553/37/198 591/53/198
+f 645/82/198 592/55/198 555/40/198
+f 646/83/198 556/41/198 593/56/198
+f 596/58/198 527/29/198 647/85/198
+f 563/94/198 605/77/198 589/52/198
+f 622/64/198 675/95/198 482/9/198
+f 622/64/198 581/45/198 676/96/198
+f 623/65/198 546/33/198 677/97/198
+f 581/45/198 623/65/198 678/98/198
+f 624/66/198 523/25/198 679/99/198
+f 582/46/198 624/66/198 680/100/198
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+f 685/103/198 584/48/198 628/69/198
+f 688/104/198 630/70/198 585/49/198
+f 690/106/198 633/72/198 586/50/198
+f 524/26/198 693/107/198 635/73/198
+f 694/108/198 636/74/198 587/51/198
+f 702/114/198 640/78/198 507/20/198
+f 617/84/198 595/57/198 673/117/198
+f 612/119/198 647/85/198 527/29/198
+f 712/122/198 650/88/198 597/59/198
+f 559/42/198 713/123/198 652/89/198
+f 721/130/198 656/93/198 601/60/198
+f 482/9/198 675/95/198 736/132/198
+f 676/96/198 581/45/198 738/133/198
+f 676/96/198 739/134/198 622/64/198
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+f 623/65/198 742/136/198 678/98/198
+f 523/25/198 687/137/198 679/99/198
+f 744/138/198 680/100/198 624/66/198
+f 746/139/198 681/101/198 625/67/198
+f 748/140/198 683/102/198 626/68/198
+f 752/141/198 631/71/198 689/105/198
+f 756/142/198 635/73/198 693/107/198
+f 727/143/198 637/75/198 695/109/198
+f 731/144/198 696/110/198 550/36/198
+f 729/145/198 697/111/198 638/76/198
+f 770/151/198 705/116/198 643/80/198
+f 672/152/198 673/117/198 595/57/198
+f 734/153/198 668/120/198 648/86/198
+f 710/121/198 649/87/198 773/154/198
+f 776/155/198 652/89/198 713/123/198
+f 528/30/198 715/124/198 779/156/198
+f 780/157/198 653/90/198 716/125/198
+f 718/127/198 654/91/198 784/159/198
+f 797/161/198 670/131/198 709/118/198
+f 798/162/198 736/132/198 675/95/198
+f 738/133/198 581/45/198 801/163/198
+f 676/96/198 738/133/198 802/164/198
+f 622/64/198 739/134/198 803/165/198
+f 677/97/198 740/135/198 805/166/198
+f 808/167/198 678/98/198 742/136/198
+f 811/168/198 679/99/198 687/137/198
+f 822/171/198 699/112/198 759/146/198
+f 835/178/198 703/115/198 765/149/198
+f 836/179/198 642/79/198 767/150/198
+f 774/180/198 773/154/198 649/87/198
+f 844/181/198 779/156/198 715/124/198
+f 846/182/198 717/126/198 781/158/198
+f 849/185/198 784/159/198 654/91/198
+f 581/45/198 810/191/198 801/163/198
+f 866/192/198 802/164/198 738/133/198
+f 868/193/198 803/165/198 739/134/198
+f 869/194/198 805/166/198 740/135/198
+f 874/195/198 758/170/198 821/169/198
+f 827/200/198 882/199/198 700/113/198
+f 892/205/198 762/147/198 830/175/198
+f 898/209/198 833/177/198 764/148/198
+f 655/92/198 913/212/198 853/186/198
+f 932/221/198 801/163/198 810/191/198
+f 940/222/198 877/196/198 823/172/198
+f 943/224/198 825/173/198 880/198/198
+f 955/230/198 829/174/198 891/204/198
+f 850/183/198 970/235/198 843/210/198
+f 975/237/198 910/211/198 851/184/198
+f 976/238/198 853/186/198 913/212/198
+f 719/128/198 915/213/198 978/239/198
+f 980/240/198 854/187/198 916/214/198
+f 981/241/198 855/188/198 917/215/198
+f 918/216/198 856/189/198 982/242/198
+f 988/244/198 858/190/198 922/218/198
+f 1000/250/198 878/197/198 879/223/198
+f 1005/251/198 886/201/198 947/225/198
+f 1007/252/198 887/202/198 948/226/198
+f 1014/256/198 889/203/198 951/228/198
+f 1026/261/198 960/231/198 893/206/198
+f 1028/262/198 831/176/198 962/232/198
+f 1029/263/198 894/207/198 964/233/198
+f 1031/264/198 895/208/198 897/234/198
+f 969/265/198 843/210/198 970/235/198
+f 1043/267/198 978/239/198 915/213/198
+f 984/268/198 982/242/198 856/189/198
+f 1050/269/198 985/243/198 920/217/198
+f 925/219/198 1060/275/198 992/247/198
+f 1081/281/198 950/227/198 1010/254/198
+f 1105/290/198 1036/266/198 973/236/198
+f 720/129/198 1059/274/198 1052/291/198
+f 788/160/198 1113/292/198 1055/270/198
+f 990/245/198 1116/294/198 1056/271/198
+f 991/246/198 1117/295/198 1057/272/198
+f 1122/297/198 992/247/198 1060/275/198
+f 1123/298/198 993/248/198 1061/276/198
+f 1143/308/198 1011/253/198 1078/279/198
+f 1147/310/198 1082/282/198 1013/255/198
+f 1150/312/198 1015/257/198 1087/284/198
+f 1152/313/198 1017/258/198 1089/285/198
+f 1153/314/198 1018/259/198 1020/286/198
+f 1159/316/198 954/229/198 1095/287/198
+f 1162/318/198 1021/260/198 1098/289/198
+f 1165/319/198 1052/291/198 1059/274/198
+f 1166/320/198 1055/270/198 1113/292/198
+f 1171/322/198 1056/271/198 1116/294/198
+f 1172/323/198 1057/272/198 1117/295/198
+f 1058/273/198 1119/296/198 1174/324/198
+f 1127/301/198 1187/329/198 1064/277/198
+f 926/220/198 1194/332/198 1131/303/198
+f 1198/335/198 1067/278/198 1133/305/198
+f 1218/342/198 1144/309/198 1079/280/198
+f 1221/343/198 1092/311/198 1086/283/198
+f 1231/345/198 1160/317/198 1097/288/198
+f 1238/346/198 1169/321/198 1115/293/198
+f 1243/347/198 1174/324/198 1119/296/198
+f 1245/348/198 1125/299/198 1182/325/198
+f 1250/350/198 1126/300/198 1185/327/198
+f 1189/352/198 1064/277/198 1187/329/198
+f 1256/353/198 1129/302/198 1190/330/198
+f 1260/355/198 1131/303/198 1194/332/198
+f 995/249/198 1196/333/198 1261/356/198
+f 1263/357/198 1132/304/198 1197/334/198
+f 1267/359/198 1135/306/198 1202/336/198
+f 1272/362/198 1136/307/198 1205/338/198
+f 1293/367/198 1226/344/198 1157/315/198
+f 1302/368/198 1248/349/198 1184/326/198
+f 1251/351/198 1186/328/198 1305/369/198
+f 1312/370/198 1258/354/198 1192/331/198
+f 1316/371/198 1261/356/198 1196/333/198
+f 1322/372/198 1204/337/198 1201/358/198
+f 1335/376/198 1208/340/198 1275/363/198
+f 1338/378/198 1209/341/198 1278/365/198
+f 1360/383/198 1305/369/198 1186/328/198
+f 1365/384/198 1325/373/198 1269/360/198
+f 1366/385/198 1327/374/198 1270/361/198
+f 1334/388/198 1207/339/198 1333/375/198
+f 1374/389/198 1336/377/198 1277/364/198
+f 1384/391/198 1281/366/198 1341/380/198
+f 1420/399/198 1382/390/198 1342/379/198
+f 1422/400/198 1385/392/198 1343/381/198
+f 1428/402/198 1346/382/198 1389/395/198
+f 1410/404/198 1331/386/198 1411/397/198
+f 1447/405/198 1413/398/198 1370/387/198
+f 1450/406/198 1379/393/198 1426/401/198
+f 1461/408/198 1429/403/198 1391/396/198
+f 1486/409/198 1390/394/198 1458/407/198
+usemtl material-189
+f 1917//201 1918//201 1919//201
+f 1918//201 1917//201 1920//201
+f 1921//202 1919//202 1918//202
+f 1922//203 1917//203 1919//203
+f 1923//201 1920//201 1917//201
+f 1920//204 1924//204 1918//204
+f 1919//202 1921//202 1925//202
+f 1918//204 1924//204 1921//204
+f 1922//203 1923//203 1917//203
+f 1922//203 1919//203 1926//203
+f 1920//201 1923//201 1927//201
+f 1920//204 1928//204 1924//204
+f 1921//205 1929//205 1925//205
+f 1926//203 1919//203 1925//203
+f 1930//204 1921//204 1924//204
+f 1931//203 1923//203 1922//203
+f 1924//205 1922//205 1926//205
+f 1923//206 1932//206 1927//206
+f 1927//204 1928//204 1920//204
+f 1922//205 1924//205 1928//205
+f 1929//205 1921//205 1932//205
+f 1929//203 1933//203 1925//203
+f 1925//203 1933//203 1926//203
+f 1926//206 1930//206 1924//206
+f 1923//203 1931//203 1929//203
+f 1922//205 1934//205 1931//205
+f 1932//206 1923//206 1929//206
+f 1935//204 1927//204 1932//204
+f 1927//204 1934//204 1928//204
+f 1934//205 1922//205 1928//205
+f 1929//203 1936//203 1933//203
+f 1930//206 1926//206 1933//206
+f 1936//203 1929//203 1931//203
+f 1935//202 1931//202 1934//202
+f 1934//204 1927//204 1935//204
+f 1936//201 1930//201 1933//201
+f 1930//201 1936//201 1935//201
+f 1931//202 1935//202 1936//202
+usemtl material-190
+f 1919//205 1918//205 1917//205
+f 1920//205 1917//205 1918//205
+f 1918//206 1919//206 1921//206
+f 1919//204 1917//204 1922//204
+f 1917//205 1920//205 1923//205
+f 1918//203 1924//203 1920//203
+f 1925//206 1921//206 1919//206
+f 1921//203 1924//203 1918//203
+f 1917//204 1923//204 1922//204
+f 1926//204 1919//204 1922//204
+f 1927//205 1923//205 1920//205
+f 1924//203 1928//203 1920//203
+f 1925//201 1929//201 1921//201
+f 1925//204 1919//204 1926//204
+f 1924//203 1921//203 1930//203
+f 1922//204 1923//204 1931//204
+f 1926//201 1922//201 1924//201
+f 1927//202 1932//202 1923//202
+f 1920//203 1928//203 1927//203
+f 1928//201 1924//201 1922//201
+f 1932//201 1921//201 1929//201
+f 1925//204 1933//204 1929//204
+f 1926//204 1933//204 1925//204
+f 1924//202 1930//202 1926//202
+f 1929//204 1931//204 1923//204
+f 1931//201 1934//201 1922//201
+f 1929//202 1923//202 1932//202
+f 1932//203 1927//203 1935//203
+f 1928//203 1934//203 1927//203
+f 1928//201 1922//201 1934//201
+f 1933//204 1936//204 1929//204
+f 1933//202 1926//202 1930//202
+f 1931//204 1929//204 1936//204
+f 1934//206 1931//206 1935//206
+f 1935//203 1927//203 1934//203
+f 1933//205 1930//205 1936//205
+f 1935//205 1936//205 1930//205
+f 1936//206 1935//206 1931//206
+usemtl material-191
+f 1937//207 1938//207 1939//207
+f 1938//207 1937//207 1940//207
+f 1941//207 1939//207 1938//207
+f 1939//208 1942//208 1937//208
+f 1937//209 1943//209 1940//209
+f 1938//207 1940//207 1944//207
+f 1939//207 1941//207 1945//207
+f 1946//210 1941//210 1938//210
+f 1942//208 1939//208 1947//208
+f 1943//209 1937//209 1942//209
+f 1943//210 1948//210 1940//210
+f 1944//207 1940//207 1948//207
+f 1949//211 1938//211 1944//211
+f 1945//207 1941//207 1950//207
+f 1951//211 1939//211 1945//211
+f 1941//210 1946//210 1952//210
+f 1938//211 1949//211 1946//211
+f 1939//211 1951//211 1947//211
+f 1947//212 1952//212 1942//212
+f 1948//210 1943//210 1953//210
+f 1948//207 1954//207 1944//207
+f 1954//208 1949//208 1944//208
+f 1941//209 1955//209 1950//209
+f 1945//207 1950//207 1954//207
+f 1945//211 1953//211 1951//211
+f 1955//209 1941//209 1952//209
+f 1943//212 1946//212 1949//212
+f 1952//212 1947//212 1951//212
+f 1943//212 1949//212 1953//212
+f 1953//211 1945//211 1948//211
+f 1945//207 1954//207 1948//207
+f 1949//208 1954//208 1956//208
+f 1956//209 1950//209 1955//209
+f 1950//209 1956//209 1954//209
+f 1956//212 1951//212 1953//212
+f 1952//212 1951//212 1955//212
+f 1956//212 1953//212 1949//212
+f 1955//212 1951//212 1956//212
+usemtl material-192
+f 1939//212 1938//212 1937//212
+f 1940//212 1937//212 1938//212
+f 1938//212 1939//212 1941//212
+f 1937//210 1942//210 1939//210
+f 1940//211 1943//211 1937//211
+f 1944//212 1940//212 1938//212
+f 1945//212 1941//212 1939//212
+f 1938//208 1941//208 1946//208
+f 1947//210 1939//210 1942//210
+f 1942//211 1937//211 1943//211
+f 1940//208 1948//208 1943//208
+f 1948//212 1940//212 1944//212
+f 1944//209 1938//209 1949//209
+f 1950//212 1941//212 1945//212
+f 1945//209 1939//209 1951//209
+f 1952//208 1946//208 1941//208
+f 1946//209 1949//209 1938//209
+f 1947//209 1951//209 1939//209
+f 1942//207 1952//207 1947//207
+f 1953//208 1943//208 1948//208
+f 1944//212 1954//212 1948//212
+f 1944//210 1949//210 1954//210
+f 1950//211 1955//211 1941//211
+f 1954//212 1950//212 1945//212
+f 1951//209 1953//209 1945//209
+f 1952//211 1941//211 1955//211
+f 1949//207 1946//207 1943//207
+f 1951//207 1947//207 1952//207
+f 1953//207 1949//207 1943//207
+f 1948//209 1945//209 1953//209
+f 1948//212 1954//212 1945//212
+f 1956//210 1954//210 1949//210
+f 1955//211 1950//211 1956//211
+f 1954//211 1956//211 1950//211
+f 1953//207 1951//207 1956//207
+f 1955//207 1951//207 1952//207
+f 1949//207 1953//207 1956//207
+f 1956//207 1951//207 1955//207
+usemtl material-193
+f 1957//213 1958//213 1959//213
+f 1958//213 1957//213 1960//213
+f 1959//214 1958//214 1957//214
+f 1960//214 1957//214 1958//214
+f 1961//215 1959//215 1958//215
+f 1958//216 1959//216 1961//216
+f 1962//217 1957//217 1959//217
+f 1959//218 1957//218 1962//218
+f 1957//216 1963//216 1960//216
+f 1960//215 1963//215 1957//215
+f 1963//218 1958//218 1960//218
+f 1960//217 1958//217 1963//217
+f 1959//215 1961//215 1962//215
+f 1962//216 1961//216 1959//216
+f 1958//218 1963//218 1961//218
+f 1961//217 1963//217 1958//217
+f 1957//217 1962//217 1964//217
+f 1964//218 1962//218 1957//218
+f 1963//216 1957//216 1964//216
+f 1964//215 1957//215 1963//215
+f 1965//213 1962//213 1961//213
+f 1961//214 1962//214 1965//214
+f 1966//213 1961//213 1963//213
+f 1963//214 1961//214 1966//214
+f 1962//213 1967//213 1964//213
+f 1964//214 1967//214 1962//214
+f 1968//213 1963//213 1964//213
+f 1964//214 1963//214 1968//214
+f 1962//213 1965//213 1969//213
+f 1969//214 1965//214 1962//214
+f 1966//213 1965//213 1961//213
+f 1961//214 1965//214 1966//214
+f 1966//213 1963//213 1970//213
+f 1970//214 1963//214 1966//214
+f 1969//213 1967//213 1962//213
+f 1962//214 1967//214 1969//214
+f 1964//213 1967//213 1968//213
+f 1968//214 1967//214 1964//214
+f 1963//213 1968//213 1970//213
+f 1970//214 1968//214 1963//214
+f 1965//216 1971//216 1969//216
+f 1969//215 1971//215 1965//215
+f 1966//213 1972//213 1965//213
+f 1965//214 1972//214 1966//214
+f 1966//213 1970//213 1973//213
+f 1973//214 1970//214 1966//214
+f 1969//213 1974//213 1967//213
+f 1967//214 1974//214 1969//214
+f 1967//217 1975//217 1968//217
+f 1968//218 1975//218 1967//218
+f 1975//215 1970//215 1968//215
+f 1968//216 1970//216 1975//216
+f 1971//216 1965//216 1976//216
+f 1976//215 1965//215 1971//215
+f 1977//217 1969//217 1971//217
+f 1971//218 1969//218 1977//218
+f 1966//213 1978//213 1972//213
+f 1972//214 1978//214 1966//214
+f 1972//218 1976//218 1965//218
+f 1965//217 1976//217 1972//217
+f 1970//218 1979//218 1973//218
+f 1973//217 1979//217 1970//217
+f 1973//213 1980//213 1966//213
+f 1966//214 1980//214 1973//214
+f 1981//213 1974//213 1969//213
+f 1969//214 1974//214 1981//214
+f 1967//213 1974//213 1980//213
+f 1980//214 1974//214 1967//214
+f 1975//217 1967//217 1982//217
+f 1982//218 1967//218 1975//218
+f 1970//215 1975//215 1983//215
+f 1983//216 1975//216 1970//216
+f 1984//213 1971//213 1976//213
+f 1976//214 1971//214 1984//214
+f 1969//217 1977//217 1985//217
+f 1985//218 1977//218 1969//218
+f 1971//213 1984//213 1977//213
+f 1977//214 1984//214 1971//214
+f 1966//213 1986//213 1978//213
+f 1978//214 1986//214 1966//214
+f 1978//213 1985//213 1972//213
+f 1972//214 1985//214 1978//214
+f 1976//218 1972//218 1984//218
+f 1984//217 1972//217 1976//217
+f 1979//218 1970//218 1983//218
+f 1983//217 1970//217 1979//217
+f 1979//216 1967//216 1973//216
+f 1973//215 1967//215 1979//215
+f 1967//213 1980//213 1973//213
+f 1973//214 1980//214 1967//214
+f 1974//213 1981//213 1987//213
+f 1987//214 1981//214 1974//214
+f 1981//213 1969//213 1985//213
+f 1985//214 1969//214 1981//214
+f 1974//216 1988//216 1980//216
+f 1980//215 1988//215 1974//215
+f 1967//216 1979//216 1982//216
+f 1982//215 1979//215 1967//215
+f 1982//213 1983//213 1975//213
+f 1975//214 1983//214 1982//214
+f 1984//215 1985//215 1977//215
+f 1977//216 1985//216 1984//216
+f 1966//213 1987//213 1986//213
+f 1986//214 1987//214 1966//214
+f 1986//218 1989//218 1978//218
+f 1978//217 1989//217 1986//217
+f 1985//213 1978//213 1981//213
+f 1981//214 1978//214 1985//214
+f 1985//215 1984//215 1972//215
+f 1972//216 1984//216 1985//216
+f 1983//213 1982//213 1979//213
+f 1979//214 1982//214 1983//214
+f 1990//217 1987//217 1981//217
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\ No newline at end of file
diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-11.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+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/demo_data/Articulated/Laptop/10239/textured_objs/original-11.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69c76f012e71d924f338a4ffdc1079ed207d2ae4
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-11.obj
@@ -0,0 +1,442 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Group11/mesh6/mesh6-geometry#mesh6-geometry
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-12.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..811f0464fea5e883997597d877f296f9884df0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-12.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-12.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e58c5cc8ceeb456f77bfbd81b43a790edfe11480
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-12.obj
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-126.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-126.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-126.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45f0d3ec7e9dd40b03bc65804016477d29efda8b
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-126.obj
@@ -0,0 +1,32 @@
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+# 126
+mtllib original-126.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-13.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-13.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-13.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..5735c21b3e993c15099148118c06c6f958a50d21
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-13.obj
@@ -0,0 +1,442 @@
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+# 13
+mtllib original-13.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-15.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..41175fb3bf4bb36734bc7711f59eaf7dc81123cd
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-15.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-15.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988ff8aba2a9f29fe0fc11310c501533fe12da6a
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-15.obj
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-17.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-17.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+d 1
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+Kd 1 1 1 
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+
diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-17.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfb9931e360f4fcd690fa4de4203dcfa18e4167f
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-17.obj
@@ -0,0 +1,442 @@
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-18.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..811f0464fea5e883997597d877f296f9884df0d0
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-18.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..d154e4806289fdb317ea939997f504fa59100490
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-19.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-19.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-19.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..b64a7b9f9e17dfed95b801e59f7beddacabc36bd
--- /dev/null
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-3.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-3.mtl
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-3.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..3cb835ee2391c1b7c2286dca0e3eb38ca17180ec
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-3.obj
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-4.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a6782b0f2b9f5e42767194de645548ab6f0d0
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-4.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-4.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee33834c89f5476e81128e6763a4a05286c5aa6
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-4.obj
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-6.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ddd63873070758e8a456551751f60bd3484d191
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-6.mtl
@@ -0,0 +1,22 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-6.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ed8ed96bc9443e53dbd0a62d535edd9e1f381d
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-6.obj
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-7.mtl b/demo_data/Articulated/Laptop/10239/textured_objs/original-7.mtl
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index 0000000000000000000000000000000000000000..f00a0d3fa3853a1bd670a5322d39ee9b3b079d61
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-7.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-7.obj
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--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-7.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..41175fb3bf4bb36734bc7711f59eaf7dc81123cd
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diff --git a/demo_data/Articulated/Laptop/10239/textured_objs/original-9.obj b/demo_data/Articulated/Laptop/10239/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89fb7318c964c2b6931e3ae746cd296cb2a6f552
--- /dev/null
+++ b/demo_data/Articulated/Laptop/10239/textured_objs/original-9.obj
@@ -0,0 +1,1375 @@
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+++ b/demo_data/Articulated/Laptop/10239/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 laptop Laptop</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 screen_side Screen Side</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>2 base_side Base Side</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>3 connector Connector</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 other Fragmentation (other)</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>7 screen Screen</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 screen_frame Screen Frame</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 keyboard Keyboard</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 base_frame Base Frame</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 shaft Shaft</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></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/demo_data/Articulated/Laptop/10239/tree_hier_after_merging.html b/demo_data/Articulated/Laptop/10239/tree_hier_after_merging.html
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+++ b/demo_data/Articulated/Laptop/10239/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 laptop laptop</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 screen_side screen_side</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 base_side base_side</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 screen screen</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 screen_frame screen_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><p>5 keyboard keyboard</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 base_frame base_frame</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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