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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40168/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..18754579406dd5210321d6fde14ceee84b783734
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/40168/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..627676ab1404f136dfbd44206c38da0baeecadb0
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/40168/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9bf3b47de6ebd38878d1bd325044d8cb25aae08e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d5c26aafa4e6094cf4945787ee31bb4e71cd9a8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e1d3b89455c92d817604ff756044e81f5d059892
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-nor-rgba-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f02b99efdc9503d000ab16a6a54ef92e5f55376
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40168/result.json b/data/PartNet-Mobility/Chair/40168/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb03d2bb16d6951781fd8121f27efee20a47a0c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Support", "objs": ["original-53"], "id": 58, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-54", "original-27"], "id": 60, "name": "back_connector"}, {"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-50"], "id": 62, "name": "back_soft_surface"}], "id": 61, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-9", "original-8"], "id": 55, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-7"], "id": 56, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["original-10"], "id": 57, "name": "arm_horizontal_bar"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-4", "original-5"], "id": 52, "name": "armrest_hard_surface"}, {"text": "Arm Vertical Bar", "objs": ["original-3"], "id": 53, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["original-6"], "id": 54, "name": "arm_horizontal_bar"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-49"], "id": 50, "name": "seat_soft_surface"}], "id": 49, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-52"], "id": 51, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-21"], "id": 43, "name": "lever"}, {"text": "Lever", "objs": ["original-20"], "id": 44, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-23", "original-25", "original-24"], "id": 45, "name": "mounting_plate"}, {"text": "Mounting Plane", "objs": ["original-26"], "id": 63, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-15"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-16"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-17"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-13"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-14"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-37"], "id": 39, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-36"], "id": 40, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-38"], "id": 41, "name": "wheel"}, {"text": "Wheel", "objs": ["original-39"], "id": 42, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-33"], "id": 35, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-32"], "id": 36, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-34"], "id": 37, "name": "wheel"}, {"text": "Wheel", "objs": ["original-35"], "id": 38, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 31, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-28"], "id": 32, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-30"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-31"], "id": 34, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-45"], "id": 27, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-44"], "id": 28, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-46"], "id": 29, "name": "wheel"}, {"text": "Wheel", "objs": ["original-47"], "id": 30, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-41"], "id": 23, "name": "caster_yoke"}, {"text": "Caster Stem", "objs": ["original-40"], "id": 24, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-42"], "id": 25, "name": "wheel"}, {"text": "Wheel", "objs": ["original-43"], "id": 26, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-12"], "id": 46, "name": "central_support"}, {"text": "Central Support", "objs": ["original-19"], "id": 47, "name": "central_support"}, {"text": "Central Support", "objs": ["original-18"], "id": 48, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/result_after_merging.json b/data/PartNet-Mobility/Chair/40168/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c6d463e768dba709c19b467b4820ad27bb653c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-53", "original-54", "original-27", "original-50", "original-9", "original-8", "original-7", "original-10", "original-4", "original-5", "original-3", "original-6", "original-49", "original-52", "original-21", "original-20", "original-23", "original-25", "original-24", "original-26", "original-15", "original-16", "original-17", "original-13", "original-14", "original-37", "original-36", "original-38", "original-39", "original-33", "original-32", "original-34", "original-35", "original-29", "original-28", "original-30", "original-31", "original-45", "original-44", "original-46", "original-47", "original-41", "original-40", "original-42", "original-43", "original-12", "original-19", "original-18"], "text": "chair", "name": "chair", "id": 0, "ori_id": 0, "children": [{"objs": ["original-53", "original-54", "original-27", "original-50"], "text": "chair_back", "name": "chair_back", "id": 1, "ori_id": 1, "children": [{"objs": ["original-53"], "text": "back_support", "name": "back_support", "id": 2, "ori_id": 58}, {"objs": ["original-54", "original-27"], "text": "back_connector", "name": "back_connector", "id": 3, "ori_id": 60}, {"objs": ["original-50"], "text": "back_surface", "name": "back_surface", "id": 4, "ori_id": 61, "children": [{"objs": ["original-50"], "text": "back_single_surface", "name": "back_single_surface", "id": 5, "ori_id": 62}]}]}, {"objs": ["original-9", "original-8", "original-7", "original-10"], "text": "chair_arm", "name": "chair_arm", "id": 6, "ori_id": 2, "children": [{"objs": ["original-9", "original-8"], "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "id": 7, "ori_id": 55}, {"objs": ["original-7"], "text": "arm_near_vertical_bar", "name": "arm_near_vertical_bar", "id": 8, "ori_id": 56}, {"objs": ["original-10"], "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "id": 9, "ori_id": 57}]}, {"objs": ["original-4", "original-5", "original-3", "original-6"], "text": "chair_arm", "name": "chair_arm", "id": 10, "ori_id": 3, "children": [{"objs": ["original-4", "original-5"], "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "id": 11, "ori_id": 52}, {"objs": ["original-3"], "text": "arm_near_vertical_bar", "name": "arm_near_vertical_bar", "id": 12, "ori_id": 53}, {"objs": ["original-6"], "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "id": 13, "ori_id": 54}]}, {"objs": ["original-49", "original-52"], "text": "chair_seat", "name": "chair_seat", "id": 14, "ori_id": 4, "children": [{"objs": ["original-49"], "text": "seat_surface", "name": "seat_surface", "id": 15, "ori_id": 49, "children": [{"objs": ["original-49"], "text": "seat_single_surface", "name": "seat_single_surface", "id": 16, "ori_id": 50}]}, {"objs": ["original-52"], "text": "seat_support", "name": "seat_support", "id": 17, "ori_id": 51}]}, {"objs": ["original-21", "original-20", "original-23", "original-25", "original-24", "original-26", "original-15", "original-16", "original-17", "original-13", "original-14", "original-37", "original-36", "original-38", "original-39", "original-33", "original-32", "original-34", "original-35", "original-29", "original-28", "original-30", "original-31", "original-45", "original-44", "original-46", "original-47", "original-41", "original-40", "original-42", "original-43", "original-12", "original-19", "original-18"], "text": "chair_base", "name": "chair_base", "id": 18, "ori_id": 5, "children": [{"objs": ["original-21", "original-20", "original-23", "original-25", "original-24", "original-26", "original-15", "original-16", "original-17", "original-13", "original-14", "original-37", "original-36", "original-38", "original-39", "original-33", "original-32", "original-34", "original-35", "original-29", "original-28", "original-30", "original-31", "original-45", "original-44", "original-46", "original-47", "original-41", "original-40", "original-42", "original-43", "original-12", "original-19", "original-18"], "text": "star_leg_base", "name": "star_leg_base", "id": 19, "ori_id": 6, "children": [{"objs": ["original-21", "original-20", "original-23", "original-25", "original-24", "original-26"], "text": "mechanical_control", "name": "mechanical_control", "id": 20, "ori_id": 8, "children": [{"objs": ["original-21"], "text": "lever", "name": "lever", "id": 21, "ori_id": 43}, {"objs": ["original-20"], "text": "lever", "name": "lever", "id": 22, "ori_id": 44}]}, {"objs": ["original-15", "original-16", "original-17", "original-13", "original-14", "original-37", "original-36", "original-38", "original-39", "original-33", "original-32", "original-34", "original-35", "original-29", "original-28", "original-30", "original-31", "original-45", "original-44", "original-46", "original-47", "original-41", "original-40", "original-42", "original-43"], "text": "star_leg_set", "name": "star_leg_set", "id": 23, "ori_id": 9, "children": [{"objs": ["original-15"], "text": "leg", "name": "leg", "id": 24, "ori_id": 10}, {"objs": ["original-16"], "text": "leg", "name": "leg", "id": 25, "ori_id": 11}, {"objs": ["original-17"], "text": "leg", "name": "leg", "id": 26, "ori_id": 12}, {"objs": ["original-13"], "text": "leg", "name": "leg", "id": 27, "ori_id": 13}, {"objs": ["original-14"], "text": "leg", "name": "leg", "id": 28, "ori_id": 14}, {"objs": ["original-37", "original-36", "original-38", "original-39"], "text": "caster", "name": "caster", "id": 29, "ori_id": 15, "children": [{"objs": ["original-36"], "text": "caster_stem", "name": "caster_stem", "id": 30, "ori_id": 40}, {"objs": ["original-38"], "text": "wheel", "name": "wheel", "id": 31, "ori_id": 41}, {"objs": ["original-39"], "text": "wheel", "name": "wheel", "id": 32, "ori_id": 42}]}, {"objs": ["original-33", "original-32", "original-34", "original-35"], "text": "caster", "name": "caster", "id": 33, "ori_id": 16, "children": [{"objs": ["original-32"], "text": "caster_stem", "name": "caster_stem", "id": 34, "ori_id": 36}, {"objs": ["original-34"], "text": "wheel", "name": "wheel", "id": 35, "ori_id": 37}, {"objs": ["original-35"], "text": "wheel", "name": "wheel", "id": 36, "ori_id": 38}]}, {"objs": ["original-29", "original-28", "original-30", "original-31"], "text": "caster", "name": "caster", "id": 37, "ori_id": 17, "children": [{"objs": ["original-28"], "text": "caster_stem", "name": "caster_stem", "id": 38, "ori_id": 32}, {"objs": ["original-30"], "text": "wheel", "name": "wheel", "id": 39, "ori_id": 33}, {"objs": ["original-31"], "text": "wheel", "name": "wheel", "id": 40, "ori_id": 34}]}, {"objs": ["original-45", "original-44", "original-46", "original-47"], "text": "caster", "name": "caster", "id": 41, "ori_id": 18, "children": [{"objs": ["original-44"], "text": "caster_stem", "name": "caster_stem", "id": 42, "ori_id": 28}, {"objs": ["original-46"], "text": "wheel", "name": "wheel", "id": 43, "ori_id": 29}, {"objs": ["original-47"], "text": "wheel", "name": "wheel", "id": 44, "ori_id": 30}]}, {"objs": ["original-41", "original-40", "original-42", "original-43"], "text": "caster", "name": "caster", "id": 45, "ori_id": 19, "children": [{"objs": ["original-40"], "text": "caster_stem", "name": "caster_stem", "id": 46, "ori_id": 24}, {"objs": ["original-42"], "text": "wheel", "name": "wheel", "id": 47, "ori_id": 25}, {"objs": ["original-43"], "text": "wheel", "name": "wheel", "id": 48, "ori_id": 26}]}]}, {"objs": ["original-12"], "text": "central_support", "name": "central_support", "id": 49, "ori_id": 46}, {"objs": ["original-19"], "text": "central_support", "name": "central_support", "id": 50, "ori_id": 47}, {"objs": ["original-18"], "text": "central_support", "name": "central_support", "id": 51, "ori_id": 48}]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/semantics.txt b/data/PartNet-Mobility/Chair/40168/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b8560bc7f922760b7510851e000b5b4c3acdb9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/semantics.txt
@@ -0,0 +1,19 @@
+link_0 hinge lever
+link_1 hinge lever
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge wheel
+link_12 slider+ seat
+link_13 free chair_leg
+link_14 hinge caster
+link_15 hinge caster
+link_16 hinge caster
+link_17 hinge caster
+link_18 hinge caster
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4a17ee056ab44f6bad219b40c9d9e1f94fb436
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-10.obj
@@ -0,0 +1,986 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ee39b6d49882329a4930d1e0ea9b0a3289dc65
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5bb527a7727f6892df607030edf7532e134a0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-14.obj
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index 0000000000000000000000000000000000000000..b5aec9fe64d1d7590c928f7d07f2bc9d71a8674f
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..ad450aaadce824893d36d7d44640e97f3fb428f1
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-16.obj
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index 0000000000000000000000000000000000000000..52258d6a63740c56ed0263a87617fc42e6e4e2ec
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-17.obj
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index 0000000000000000000000000000000000000000..237edaabce6449e37a55b9143ad0104f404e9084
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f97cd2dd18ac275f384bf5bd4c6deb58bf32518d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-18.obj
@@ -0,0 +1,132 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d51ed1beff77809e514688fe61fe2539c315c346
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-19.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b74dce46a943524e95dcd8d9e8a4160de6a1c95
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-20.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd7c3b6632753a7be0cde461b6ea30a29a5f736
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ec60cf72f42e26f8ea7389b7c35ec9c34cf1cdb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..563ed9999813fcd4719d6bfc744e4c793d0ac93b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-23.obj
@@ -0,0 +1,350 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..1c1ddeca984ffa2780ff4233b6cbb7f93d7aff76
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2aaa5d8c8952570a9a33bda9613fe5ce1695edf6
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db721968a526791ff3d1618a6583aeda305f2e0d
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b20f9f576242b1959f381f898aedca560617b638
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-28.obj
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index 0000000000000000000000000000000000000000..f3395160eb716f349759da4dd98a5394e5fa86db
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e408ed6d7b4ece0f9f5b6a65fd74af2637b1d0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-29.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c56929b27e1215d2388257a8752f2dde627d98e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-3.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..e51347d7353699663d5250a47f5127c8f4e1b1d4
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1a4246bca1e5c8238e20d6090af48bd3db98a45
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665fddff97231b7a8345773d84ddd60c26c30e0b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8477ad878e9344ae96b666ed43793797fb1eca32
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..033e0dba20ab67c20785c158a94c773ed78ba61a
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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index 0000000000000000000000000000000000000000..8e2b9eeb0d010423dfe46756b3b41e5e5b8998b7
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dacf9e9fc1b1ed5578c7ac6de0eccc3a5fc31df
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-38.obj
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index 0000000000000000000000000000000000000000..265df259972f1be8470b427972c96039dacabc75
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..726b949ee8e75d32179beeddeb7601b76d775c30
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ce18485d08a629cce3a78d5a97315b7150d338
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9ec43a3d9aa36b335521e90bb8e74c956f9869
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..130edf23f5f366bed4669b9cc1c1845eb62e5de7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a73c252946394d3f36f2677b9d7f6431fb9250f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a57f5728d3505ba7e7df03897008f48026a3cb5
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1219d16cef7852785b73493f9ac6942161c16b5b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..324d32b7dd9d9231fa5f804acc2f89b2c06cc9f4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-46.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-46.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-46.obj
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index 0000000000000000000000000000000000000000..859bbe01f057172c93508fae4d91fef5430354d7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc970cf2462e162dd27aba72ef10fad531f1f94
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82cb963b3124b25bb388c31f7e87f61d10feaa2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0003770b125f49fb6203050177777f1598ce5741
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..892c4537ae4a422b086aca5f8ef5378732469f81
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-5.obj
@@ -0,0 +1,2284 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..82cb963b3124b25bb388c31f7e87f61d10feaa2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.24705882352941178 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75faac672d4416b79f49834a692e4633257c2bf3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-50.obj
@@ -0,0 +1,5096 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517f9d43eb45f2716802ca16d8140ac7604355c8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c7ec940fd586f49227a4bdd9b9edb5fbc8d69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-53.obj
@@ -0,0 +1,6260 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..022fd67e12fb8acbd17166fb95a6f2c7ab013e0a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..32b786de08bd59c7064b14f5785342a97039642c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58331896845709cbc7281d93d59d1400d6058d81
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.mtl
@@ -0,0 +1,28 @@
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diff --git a/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..325c5b6f5628bbfdeda0f0c7c0e08a1f7e3c5e86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/40168/tree_hier.html b/data/PartNet-Mobility/Chair/40168/tree_hier.html
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>58 back_support Back Support</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>60 back_connector Back Connector</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 back_surface Back Surface</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>55 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>52 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 seat_surface Seat Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>51 seat_support Seat Support</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td><p>62 back_soft_surface Back Soft Surface</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>50 seat_soft_surface Seat Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>8 mechanical_control Mechanical Control</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>46 central_support Central Support</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 central_support Central Support</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 central_support Central Support</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 lever Lever</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 lever Lever</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 mounting_plate Mounting Plane</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>63 mounting_plate Mounting Plane</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster_yoke Caster Yoke</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 caster_stem Caster Stem</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel Wheel</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel Wheel</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 caster_yoke Caster Yoke</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 caster_stem Caster Stem</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel Wheel</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_yoke Caster Yoke</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 caster_stem Caster Stem</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 caster_yoke Caster Yoke</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 caster_stem Caster Stem</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster_stem Caster Stem</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40168/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..09408eadd9b35e1b3b1affed784d14829a9984dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_seat chair_seat</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_base chair_base</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_support back_support</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 back_connector back_connector</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><p>4 back_surface back_surface</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_surface seat_surface</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 seat_support seat_support</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 star_leg_base star_leg_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td><p>5 back_single_surface back_single_surface</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></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>16 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>20 mechanical_control mechanical_control</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>23 star_leg_set star_leg_set</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>49 central_support central_support</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 central_support central_support</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 central_support central_support</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 lever lever</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 lever lever</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 caster caster</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 caster caster</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>45 caster caster</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 caster_stem caster_stem</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster_stem caster_stem</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 caster_stem caster_stem</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 caster_stem caster_stem</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel wheel</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 wheel wheel</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 caster_stem caster_stem</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 wheel wheel</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 wheel wheel</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40225/bounding_box.json b/data/PartNet-Mobility/Chair/40225/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7b620a85d7e4112a8d9d60666b62efec957759
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.548623, -0.842436, -0.490369], "max": [0.56845, 0.805662, 0.543558]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40225/images/texture_0.jpg b/data/PartNet-Mobility/Chair/40225/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fb1a72086446e6c40f5f72953e033f09a98c25f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c08a6cc47aff32a05df908a96dc9f96d976921b155462f2fd62492ee865431
+size 29772
diff --git a/data/PartNet-Mobility/Chair/40225/images/texture_1.jpg b/data/PartNet-Mobility/Chair/40225/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..84ec1a2fa0334e586b6e4c2364fe153b0303483a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b24c6634fa828714667bfde1e44383c6cc403b12ff7225a64eb5e75ce3221a9
+size 7997
diff --git a/data/PartNet-Mobility/Chair/40225/meta.json b/data/PartNet-Mobility/Chair/40225/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..991885ffdb5601b49de2b5681ac55a78b39eaea8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/meta.json
@@ -0,0 +1 @@
+{"model_id": "85208e245c49fd72349bb1cbbf9a4206", "anno_id": "40225", "user_id": "shape12", "time_in_sec": "481", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40225/mobility.urdf b/data/PartNet-Mobility/Chair/40225/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ebf5266243689120f6cfe9e0e36248ecce183a41
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/mobility.urdf
@@ -0,0 +1,624 @@
+<?xml version="1.0" ?>
+<robot name="partnet_85208e245c49fd72349bb1cbbf9a4206">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-71">
+			<origin xyz="-0.05942911690566691 0.09907077254151031 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-71">
+			<origin xyz="-0.05942911690566691 0.09907077254151031 0"/>
+			<geometry>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="0.039803633868866956 -0.09907077254151031 -0.05357987057050424"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.2701769682087225"/>
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+	<link name="link_1">
+		<visual name="caster_yoke-68">
+			<origin xyz="0.27762114381235 0 -0.4604717425334019"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="-0.27762114381235 0 0.4604717425334019"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
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+	<link name="link_2">
+		<visual name="wheel-69">
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+			<geometry>
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+			</geometry>
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+			<geometry>
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+		<axis xyz="-0.35825391836150317 0 0.9336241909776276"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
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+	<link name="link_3">
+		<visual name="wheel-70">
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
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+			<geometry>
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+		<axis xyz="-0.35825391836150317 0 0.9336241909776276"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
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+	<link name="link_4">
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="-0.4601129431451991 0 -0.1010477216837205"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
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+	<link name="link_5">
+		<visual name="wheel-66">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
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+	</link>
+	<joint name="joint_5" type="continuous">
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+		<axis xyz="0.9986295963046339 0 0.0523347817846213"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
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+	<link name="link_6">
+		<visual name="wheel-67">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		<axis xyz="0.9986295963046339 0 0.0523347817846213"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
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+	<link name="link_7">
+		<visual name="caster_yoke-62">
+			<origin xyz="-0.017807539735188633 0 0.45046039432058277"/>
+			<geometry>
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+			<geometry>
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+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
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+	<link name="link_8">
+		<visual name="wheel-63">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="-0.25895479250880016 0 -0.9658894426572456"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
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+		<visual name="wheel-64">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="-0.25895479250880016 0 -0.9658894426572456"/>
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+		<parent link="link_7"/>
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+	<link name="link_10">
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+			<geometry>
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+			<geometry>
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+		<origin xyz="0.49773299713864 0 -0.10380047427306"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
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+	<link name="link_11">
+		<visual name="wheel-60">
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+			<geometry>
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+		<axis xyz="0.8385976703861352 0 -0.5447512709695563"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
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+		<visual name="wheel-61">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="0.8385976703861352 0 -0.5447512709695563"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
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+		<visual name="caster_yoke-56">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
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+		<visual name="wheel-57">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="-0.7772408943891498 0 -0.6292031405588777"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
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+	<link name="link_15">
+		<visual name="wheel-58">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
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+	</link>
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+		<axis xyz="-0.7772408943891498 0 -0.6292031405588777"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
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+	<link name="link_16">
+		<visual name="arm_holistic_frame-82">
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+			<geometry>
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+		<visual name="arm_holistic_frame-82">
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+			<geometry>
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+		<visual name="arm_holistic_frame-81">
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+			<geometry>
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+		<visual name="arm_holistic_frame-81">
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+			<geometry>
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+		<visual name="back_soft_surface-86">
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+			<geometry>
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+		<visual name="back_support-84">
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+			<geometry>
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+			</geometry>
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+		<visual name="back_connector-85">
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+			<geometry>
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+		<visual name="back_connector-85">
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+			<geometry>
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+			<geometry>
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+		<visual name="seat_soft_surface-80">
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+			<geometry>
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+		<visual name="seat_support-79">
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+			<geometry>
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+		<visual name="central_support-42">
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+			<geometry>
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+			<geometry>
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+		<visual name="mounting_plate-72">
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+			<geometry>
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+			<geometry>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support-40">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-41">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-88">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-47">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-49">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-50">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.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-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.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-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.019625483036799955 0 0.05357987057050424"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.052000000000000046"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40225/mobility_v2.json b/data/PartNet-Mobility/Chair/40225/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c6661d181514c082a201e249d61153923c6a49
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"lever","parts":[{"id":71,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[0.05942911690566691,-0.09907077254151031,0],"direction":[0,0,1]},"limit":{"a":0,"b":-15.480000000000018,"noLimit":false}}},{"id":1,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":68,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.27762114381235,0,0.4604717425334019],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":69,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.037890039741074216,-0.7938697105934446,-0.014539315185152698],"direction":[-0.35825391836150317,0,0.9336241909776276]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":70,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.037890039741074216,-0.7938697105934446,-0.014539315185152698],"direction":[-0.35825391836150317,0,0.9336241909776276]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":65,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4601129431451991,0,-0.1010477216837205],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":66,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.001297155741155071,-0.7938695419505147,-0.024751762347139085],"direction":[0.9986295963046339,0,0.0523347817846213]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":67,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.001297155741155071,-0.7938695419505147,-0.024751762347139085],"direction":[0.9986295963046339,0,0.0523347817846213]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":62,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.017807539735188633,0,-0.45046039432058277],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":63,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08035431338107754,-0.793869571156856,-0.021542977327018344],"direction":[-0.25895479250880016,0,-0.9658894426572456]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":64,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.08035431338107754,-0.793869571156856,-0.021542977327018344],"direction":[-0.25895479250880016,0,-0.9658894426572456]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":59,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.49773299713864,0,-0.10380047427306],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":60,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.07284993647796319,-0.7938695300918053,0.11214619851688978],"direction":[0.8385976703861352,0,-0.5447512709695563]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":61,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.07284993647796319,-0.7938695300918053,0.11214619851688978],"direction":[0.8385976703861352,0,-0.5447512709695563]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":17,"joint":"hinge","name":"caster_yoke","parts":[{"id":56,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.316718283375338,0,0.4607782518909],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":57,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06758393083346312,-0.7938695987611898,0.08348495097889601],"direction":[-0.7772408943891498,0,-0.6292031405588777]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":58,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06758393083346312,-0.7938695987611898,0.08348495097889601],"direction":[-0.7772408943891498,0,-0.6292031405588777]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":17,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":82,"name":"arm_holistic_frame","children":[]},{"id":81,"name":"arm_holistic_frame","children":[]},{"id":86,"name":"back_soft_surface","children":[]},{"id":84,"name":"back_support","children":[]},{"id":85,"name":"back_connector","children":[]},{"id":87,"name":"back_support","children":[]},{"id":80,"name":"seat_soft_surface","children":[]},{"id":79,"name":"seat_support","children":[]},{"id":42,"name":"central_support","children":[]},{"id":43,"name":"central_support","children":[]},{"id":72,"name":"mounting_plate","children":[]}],"jointData":{"axis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diff --git a/data/PartNet-Mobility/Chair/40225/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40225/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..593ea10ed67fc50248351a4a5b7336d784acf8ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40225/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/40225/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4967adc06fe16d1bf336f02bc3f6a7fdeb8ebfa
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b6226309b79b0f7f25944e46650b07b5deb1ccc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7e303a03bc04eccba4bf90d9d497364e0ab96cfd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ecad54fd30ec90be5f0927be4c17535168ac7f3f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40225/result.json b/data/PartNet-Mobility/Chair/40225/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df91f48a0be9f890288ad88ff20de4a47005d61
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-12"], "id": 86, "name": "back_soft_surface"}], "id": 83, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-9"], "id": 84, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-16", "original-7"], "id": 85, "name": "back_connector"}, {"text": "Back Support", "objs": ["original-11"], "id": 87, "name": "back_support"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-2", "new-1"], "id": 82, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["new-3", "new-0"], "id": 81, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-14"], "id": 80, "name": "seat_soft_surface"}], "id": 78, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-15"], "id": 79, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-75"], "id": 40, "name": "central_support"}, {"text": "Central Support", "objs": ["new-4"], "id": 41, "name": "central_support"}, {"text": "Central Support", "objs": ["original-77"], "id": 42, "name": "central_support"}, {"text": "Central Support", "objs": ["original-76"], "id": 43, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-81", "original-80"], "id": 71, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-83"], "id": 72, "name": "mounting_plate"}], "id": 44, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-28"], "id": 46, "name": "leg"}, {"text": "Leg", "objs": ["original-61"], "id": 47, "name": "leg"}, {"text": "Leg", "objs": ["original-72"], "id": 48, "name": "leg"}, {"text": "Leg", "objs": ["original-39"], "id": 49, "name": "leg"}, {"text": "Leg", "objs": ["original-41"], "id": 50, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-44"], "id": 68, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-49"], "id": 69, "name": "wheel"}, {"text": "Wheel", "objs": ["original-50"], "id": 70, "name": "wheel"}], "id": 51, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-21"], "id": 65, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-27"], "id": 66, "name": "wheel"}, {"text": "Wheel", "objs": ["original-26"], "id": 67, "name": "wheel"}], "id": 52, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-54"], "id": 62, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-60"], "id": 63, "name": "wheel"}, {"text": "Wheel", "objs": ["original-59"], "id": 64, "name": "wheel"}], "id": 53, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-65"], "id": 59, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-71"], "id": 60, "name": "wheel"}, {"text": "Wheel", "objs": ["original-70"], "id": 61, "name": "wheel"}], "id": 54, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-32"], "id": 56, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-38"], "id": 57, "name": "wheel"}, {"text": "Wheel", "objs": ["original-37"], "id": 58, "name": "wheel"}], "id": 55, "name": "caster"}], "id": 45, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["new-5"], "id": 88, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40225/result_after_merging.json b/data/PartNet-Mobility/Chair/40225/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fc6fb1e3a86d7536be1a993605167972cbc059
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"id": 3, "objs": ["original-12"], "text": "back_single_surface", "name": "back_single_surface", "ori_id": 86}], "name": "back_surface", "id": 2, "objs": ["original-12"], "text": "back_surface", "ori_id": 83}, {"id": 4, "objs": ["original-9"], "text": "back_support", "name": "back_support", "ori_id": 84}, {"id": 5, "objs": ["original-16", "original-7"], "text": "back_connector", "name": "back_connector", "ori_id": 85}, {"id": 6, "objs": ["original-11"], "text": "back_support", "name": "back_support", "ori_id": 87}], "name": "chair_back", "id": 1, "objs": ["original-12", "original-9", "original-16", "original-7", "original-11"], "text": "chair_back", "ori_id": 1}, {"children": [{"id": 8, "objs": ["new-2", "new-1"], "text": "arm_holistic_frame", "name": "arm_holistic_frame", "ori_id": 82}], "name": "chair_arm", "id": 7, "objs": ["new-2", "new-1"], "text": "chair_arm", "ori_id": 2}, {"children": [{"id": 10, "objs": ["new-3", "new-0"], "text": 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diff --git a/data/PartNet-Mobility/Chair/40225/semantics.txt b/data/PartNet-Mobility/Chair/40225/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-0.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/new-0.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/new-0.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b517f660beb3b02bef2cbf6333c5594d73611cd3
--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0b936643de7d45638be97caf75c00dff49706a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b517f660beb3b02bef2cbf6333c5594d73611cd3
--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0ffb4739f918e39225eb035725b2db38d84edbf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/new-3.obj
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index 0000000000000000000000000000000000000000..e0ed7e4df3d0c92f744134fa2e0915fb795eba44
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-4.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/new-4.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2f4e43703737856891272fe9f66028d863535291
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-11.mtl
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d083e3ebef9281a38a0143200c07326b09001f02
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.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.jpg
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a130d490f48593374db50fcb5ac353ca5995967a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3567cc79f9acaea95dba2adf43c3f60862ebf0ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-15.obj
@@ -0,0 +1,17024 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o Group10/mesh11/mesh11-geometry#mesh11-geometry
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8567d406750ae882f58ffc6e433e5e203dbca5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-16.obj
@@ -0,0 +1,12559 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a75ddfe67586fc5f6538ca7a9a88f8c331f12507
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-21.obj
@@ -0,0 +1,4229 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9498e3b629b01a83afea9e7f829d52ee8ca7250a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-26.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e514c223adf41121ebe14b965051a24ad481ac9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-27.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58c7c7c76e7690bcced895be190330fc83815a22
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660799702134869eda0abea37fd91b50a34a14ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-32.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4031e12ded55de06eded95b8818a34e5aea16eac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-37.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e1a780e619923969fea524948d5eb0140ba0cd9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-38.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-39.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/Chair/40225/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c43f25b41da4d5f3d8eed8ecc962b58a16882a5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-39.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96958613b9c05616ef1bd17b81e2dcba9162f504
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460453bcf9be9c43748bd8a4b3e965199fcd2c97
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-44.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e083eee23f69da4595e2f50407230061e6d28d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-49.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e74b8f8d6ec2a3311a0623dff3cf856b3207ee93
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-50.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d424ff18aeb64f59e656ad66864d81e6afbe7ac3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-54.obj
@@ -0,0 +1,4229 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4905874fdbde903c8694b21bbbc6616443d1cf6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-59.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-60.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-60.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0200ccb200c5013caec133914ed05911e5d92985
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-60.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4776ee6d42b88f14c1a5474b5c631714eb46e224
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-61.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392946c8d5555114a22b1c430c8b824781d9584f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-65.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh45/mesh45-geometry#mesh45-geometry
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7b039f5bfd5e242458eaddaddaa51c5371e8a63
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-7.obj
@@ -0,0 +1,4781 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-70.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-70.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eeb114d01a098ab1d6796391f8783d0351d178f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-70.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a324d1432a1d1bffa79c136baac225d8b8b4a7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-71.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-72.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-72.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4546e238645cfd5496185f63a1d61a36b550c68c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-72.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-75.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40225/textured_objs/original-75.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15858b2353cb35cfeb1f06195fa9207e20125078
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-75.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-76.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-76.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc4b0d7c07a38dbc3b1add0a7d6162685a5bdf8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-77.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-77.mtl
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index 0000000000000000000000000000000000000000..ff3f08f9bdd0b26114af3211339af594614bb10c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-77.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-77.obj
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index 0000000000000000000000000000000000000000..1abe83be3a1f96f81af638ba2fa502e438e35c07
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8d5c4454c634dd6396f16be8242513493e99ec
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-81.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-81.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9619b0172c9e90e4619347ec54fc900931f43e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d3886a787e123a016a7c8930e329054d67879af
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-83.obj
@@ -0,0 +1,439 @@
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diff --git a/data/PartNet-Mobility/Chair/40225/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/40225/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-9.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/Chair/40225/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/40225/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17a73cc47ee6d2dba0e395a603d833e7abbd3e9c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/textured_objs/original-9.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40225/tree_hier.html b/data/PartNet-Mobility/Chair/40225/tree_hier.html
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index 0000000000000000000000000000000000000000..3ec8b823b76211b5d601b76d52ffd5017d08ed26
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>83 back_surface Back Surface</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>84 back_support Back Support</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 back_connector Back Connector</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>87 back_support Back Support</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>82 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>81 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>78 seat_surface Seat Surface</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>79 seat_support Seat Support</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>86 back_soft_surface Back Soft Surface</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>80 seat_soft_surface Seat Soft Surface</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>40 central_support Central Support</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 central_support Central Support</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 central_support Central Support</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 central_support Central Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 mechanical_control Mechanical Control</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>45 star_leg_set Star-shape Leg Set</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>88 central_support Central Support</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>71 lever Lever</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 mounting_plate Mounting Plane</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 leg Leg</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 leg Leg</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 leg Leg</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 leg Leg</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 leg Leg</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 caster Wheel Assembly</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>52 caster Wheel Assembly</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>53 caster Wheel Assembly</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>54 caster Wheel Assembly</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>55 caster Wheel Assembly</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>68 caster_yoke Caster Yoke</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 wheel Wheel</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 wheel Wheel</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>65 caster_yoke Caster Yoke</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 wheel Wheel</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 wheel Wheel</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>62 caster_yoke Caster Yoke</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 wheel Wheel</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 wheel Wheel</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>59 caster_yoke Caster Yoke</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 wheel Wheel</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 wheel Wheel</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>56 caster_yoke Caster Yoke</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 wheel Wheel</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 wheel Wheel</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40225/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40225/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..096ee010c571a37babc294fdc67ce02caced0d25
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40225/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 chair_arm chair_arm</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 chair_arm chair_arm</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 chair_seat chair_seat</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>15 chair_base chair_base</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_support back_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 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 seat_surface seat_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 seat_support seat_support</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 star_leg_base star_leg_base</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>17 central_support central_support</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 central_support central_support</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 central_support central_support</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 central_support central_support</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 mechanical_control mechanical_control</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 star_leg_set star_leg_set</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>44 central_support central_support</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 lever lever</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>38 caster caster</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>41 caster caster</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel wheel</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel wheel</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/bounding_box.json b/data/PartNet-Mobility/Chair/40890/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..574b277135d3f745f578584499a75af4e1e97bc2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.486209, -0.884986, -0.405134], "max": [0.428892, 0.694415, 0.51383]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/meta.json b/data/PartNet-Mobility/Chair/40890/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07527da1748fcaa3c3f9dca9de4233ec2e97b8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/meta.json
@@ -0,0 +1 @@
+{"model_id": "95d6aae8728a0aed70e95b2fd46626d", "anno_id": "40890", "user_id": "yz-majinghua", "time_in_sec": "470", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/mobility.urdf b/data/PartNet-Mobility/Chair/40890/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c5556f86127ccb714ec7dfd83225caefceb6851e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/mobility.urdf
@@ -0,0 +1,555 @@
+<?xml version="1.0" ?>
+<robot name="partnet_95d6aae8728a0aed70e95b2fd46626d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-30">
+			<origin xyz="0.20820168715334697 0 -0.45478122834333423"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.20820168715334697 0 -0.45478122834333423"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.20820168715334697 0 0.45478122834333423"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-31">
+			<origin xyz="-0.0432279207260289 0.8523540150661428 -0.02200799142099401"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0432279207260289 0.8523540150661428 -0.02200799142099401"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.25142960787937585 -0.8523540150661428 -0.4327732369223402"/>
+		<axis xyz="-0.45399358062150486 -1.873507280258259e-05 0.8910049541969239"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke-28">
+			<origin xyz="0.4449242431157593 0 0.005192686644469907"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4449242431157593 0 0.005192686644469907"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.4449242431157593 0 -0.005192686644469907"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-29">
+			<origin xyz="0.014768354816082947 0.8525570171140108 -0.09083364019818184"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.014768354816082947 0.8525570171140108 -0.09083364019818184"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.4301558882996763 -0.8525570171140108 0.09602632684265175"/>
+		<axis xyz="0.9876867129867017 -0.00044116608971880384 0.15644411897545346"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-26">
+			<origin xyz="0.08061442631195603 0 0.37246909022672314"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08061442631195603 0 0.37246909022672314"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.08061442631195603 0 -0.37246909022672314"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-27">
+			<origin xyz="0.04835921233184957 0.852550082888737 -0.0072351633276171315"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04835921233184957 0.852550082888737 -0.0072351633276171315"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.032255213980106466 -0.852550082888737 0.3797042535543403"/>
+		<axis xyz="-0.15645262322038106 0.0004924757256649306 -0.9876853416727016"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_yoke-24">
+			<origin xyz="-0.381264312846653 0 0.1394842283433342"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.381264312846653 0 0.1394842283433342"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.381264312846653 0 -0.1394842283433342"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-25">
+			<origin xyz="-0.009518609287655947 0.8522995131385673 -0.01898260800852406"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.009518609287655947 0.8522995131385673 -0.01898260800852406"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.37174570355899705 -0.8522995131385673 0.15846683635185826"/>
+		<axis xyz="0.8910349778592977 -0.0001589226268488405 -0.45393462411990515"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-22">
+			<origin xyz="-0.30241081318191176 0 -0.3717845"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.30241081318191176 0 -0.3717845"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.30241081318191176 0 0.3717845"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-23">
+			<origin xyz="0.015206755284268144 0.852363294397501 -0.015206755284268144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.015206755284268144 0.852363294397501 -0.015206755284268144"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.3176175684661799 -0.852363294397501 -0.3565777447157319"/>
+		<axis xyz="0.7071067811865476 0 0.7071067811865476"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="back_soft_surface-63">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-59">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_frame_horizontal_bar-62">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-61">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-53">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-54">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-55">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-65">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-50">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-51">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-52">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-64">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-46">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_holistic_frame-45">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-38">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-47">
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008872491577744205 0 -0.06177920938853644"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.008872491577744205 0 0.06177920938853644"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_11">
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-32">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="footrest_circular-34">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.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>
+		<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-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.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-27.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-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40890/mobility_v2.json b/data/PartNet-Mobility/Chair/40890/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8c62586ea3e17b2720fe9cd249b4fa4adca8e66
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":30,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.20820168715334697,0,0.45478122834333423],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel"}],"jointData":{"axis":{"origin":[0.0432279207260289,-0.8523540150661428,0.02200799142099401],"direction":[-0.45399358062150486,-0.00001873507280258259,0.8910049541969239]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.4449242431157593,0,-0.005192686644469907],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.014768354816082947,-0.8525570171140108,0.09083364019818184],"direction":[0.9876867129867017,-0.00044116608971880384,0.15644411897545346]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":26,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[-0.08061442631195603,0,-0.37246909022672314],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.04835921233184957,-0.852550082888737,0.0072351633276171315],"direction":[-0.15645262322038106,0.0004924757256649306,-0.9876853416727016]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":24,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.381264312846653,0,-0.1394842283433342],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel"}],"jointData":{"axis":{"origin":[0.009518609287655947,-0.8522995131385673,0.01898260800852406],"direction":[0.8910349778592977,-0.0001589226268488405,-0.45393462411990515]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":22,"name":"caster_yoke"}],"jointData":{"axis":{"origin":[0.30241081318191176,0,0.3717845],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":23,"name":"wheel"}],"jointData":{"axis":{"origin":[-0.015206755284268144,-0.852363294397501,0.015206755284268144],"direction":[0.7071067811865476,0,0.7071067811865476]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":11,"joint":"hinge","name":"chair_back","parts":[{"id":63,"name":"back_soft_surface"},{"id":59,"name":"back_support"},{"id":62,"name":"back_frame_horizontal_bar"},{"id":61,"name":"back_connector"},{"id":53,"name":"armrest_soft_surface"},{"id":54,"name":"arm_vertical_bar"},{"id":55,"name":"arm_horizontal_bar"},{"id":65,"name":"arm_connector"},{"id":50,"name":"armrest_soft_surface"},{"id":51,"name":"arm_vertical_bar"},{"id":52,"name":"arm_horizontal_bar"},{"id":64,"name":"arm_connector"},{"id":46,"name":"seat_soft_surface"},{"id":45,"name":"seat_holistic_frame"},{"id":38,"name":"mounting_plate"},{"id":47,"name":"seat_connector"}],"jointData":{"axis":{"origin":[-0.008872491577744205,0,0.06177920938853644],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":7,"name":"central_support"},{"id":32,"name":"central_support"},{"id":34,"name":"footrest_circular"},{"id":9,"name":"leg"},{"id":10,"name":"leg"},{"id":11,"name":"leg"},{"id":12,"name":"leg"},{"id":13,"name":"leg"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/parts_render/0.png b/data/PartNet-Mobility/Chair/40890/parts_render/0.png
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40890/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40890/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..6190265bff7fd3169f8c04e639d4c3f6161d9b7a
--- /dev/null
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index 0000000000000000000000000000000000000000..257d8d5438a3bcad127a9d51e25167286aecbc09
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diff --git a/data/PartNet-Mobility/Chair/40890/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/40890/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a823f1a938298a0e4a0d29ffb28e1ca568d59bf2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65c23976b684043cc18ba5dac4b5a90b47741a97
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0039f0d7d648947f7143225c6c8a7f87cd3ffa94
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c93b9f46101317e76b54b3e9783d7742a92f928
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40890/result.json b/data/PartNet-Mobility/Chair/40890/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..12587e084ae955d13f6f19198a0290434c2d3d19
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-34"], "id": 63, "name": "back_soft_surface"}], "id": 58, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-33"], "id": 59, "name": "back_support"}, {"text": "Back Frame", "children": [{"text": "Back Frame Horizontal Bar", "objs": ["new-9"], "id": 62, "name": "back_frame_horizontal_bar"}], "id": 60, "name": "back_frame"}, {"text": "Back Connector", "objs": ["new-8"], "id": 61, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-42"], "id": 53, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-5"], "id": 54, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-7"], "id": 55, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["new-6"], "id": 65, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-38"], "id": 50, "name": "armrest_soft_surface"}, {"text": "Arm Vertical Bar", "objs": ["new-2"], "id": 51, "name": "arm_vertical_bar"}, {"text": "Arm Horizontal Bar", "objs": ["new-3"], "id": 52, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["new-4"], "id": 64, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-31"], "id": 46, "name": "seat_soft_surface"}], "id": 43, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Holistic Frame", "objs": ["new-1"], "id": 45, "name": "seat_holistic_frame"}], "id": 44, "name": "seat_frame"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-2"], "id": 7, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-24"], "id": 9, "name": "leg"}, {"text": "Leg", "objs": ["original-25"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-27"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-28"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-26"], "id": 13, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-14"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-13"], "id": 31, "name": "wheel"}], "id": 14, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-16"], "id": 29, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-20"], "id": 26, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-19"], "id": 27, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 24, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-22"], "id": 25, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-11"], "id": 22, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-10"], "id": 23, "name": "wheel"}], "id": 18, "name": "caster"}], "id": 8, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-5", "original-6", "original-7", "original-8", "original-4"], "id": 32, "name": "central_support"}, {"text": "Footrest Ring", "children": [{"text": "Footrest Circle", "objs": ["original-29"], "id": 34, "name": "footrest_circular"}], "id": 33, "name": "footrest_ring"}, {"text": "Mechanical Control", "children": [{"text": "Mounting Plane", "objs": ["new-0"], "id": 38, "name": "mounting_plate"}], "id": 35, "name": "mechanical_control"}, {"text": "Seat Connector", "objs": ["original-43"], "id": 47, "name": "seat_connector"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/result_after_merging.json b/data/PartNet-Mobility/Chair/40890/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..9492640ce72f323530c1736e7a48b12e3c69326d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"children": [{"name": "back_single_surface", "ori_id": 63, "id": 3, "objs": ["original-34"], "text": "back_single_surface"}], "name": "back_surface", "ori_id": 58, "text": "back_surface", "objs": ["original-34"], "id": 2}, {"name": "back_support", "ori_id": 59, "id": 4, "objs": ["original-33"], "text": "back_support"}, {"children": [{"name": "back_frame_horizontal_bar", "ori_id": 62, "id": 6, "objs": ["new-9"], "text": "back_frame_horizontal_bar"}], "name": "back_frame", "ori_id": 60, "text": "back_frame", "objs": ["new-9"], "id": 5}, {"name": "back_connector", "ori_id": 61, "id": 7, "objs": ["new-8"], "text": "back_connector"}], "name": "chair_back", "ori_id": 1, "text": "chair_back", "objs": ["original-34", "original-33", "new-9", "new-8"], "id": 1}, {"children": [{"name": "arm_horizontal_bar", "ori_id": 53, "id": 9, "objs": ["original-42"], "text": "arm_horizontal_bar"}, {"name": "arm_near_vertical_bar", "ori_id": 54, "id": 10, "objs": ["new-5"], "text": "arm_near_vertical_bar"}, {"name": "arm_horizontal_bar", "ori_id": 55, "id": 11, "objs": ["new-7"], "text": "arm_horizontal_bar"}, {"name": "arm_connector", "ori_id": 65, "id": 12, "objs": ["new-6"], "text": "arm_connector"}], "name": "chair_arm", "ori_id": 2, "text": "chair_arm", "objs": ["original-42", "new-5", "new-7", "new-6"], "id": 8}, {"children": [{"name": "arm_horizontal_bar", "ori_id": 50, "id": 14, "objs": ["original-38"], "text": "arm_horizontal_bar"}, {"name": "arm_near_vertical_bar", "ori_id": 51, "id": 15, "objs": ["new-2"], "text": "arm_near_vertical_bar"}, {"name": "arm_horizontal_bar", "ori_id": 52, "id": 16, "objs": ["new-3"], "text": "arm_horizontal_bar"}, {"name": "arm_connector", "ori_id": 64, "id": 17, "objs": ["new-4"], "text": "arm_connector"}], "name": "chair_arm", "ori_id": 3, "text": "chair_arm", "objs": ["original-38", "new-2", "new-3", "new-4"], "id": 13}, {"children": [{"children": [{"name": "seat_single_surface", "ori_id": 46, "id": 20, "objs": ["original-31"], "text": "seat_single_surface"}], "name": "seat_surface", "ori_id": 43, "text": "seat_surface", "objs": ["original-31"], "id": 19}, {"children": [{"name": "seat_holistic_frame", "ori_id": 45, "id": 22, "objs": ["new-1"], "text": "seat_holistic_frame"}], "name": "seat_frame", "ori_id": 44, "text": "seat_frame", "objs": ["new-1"], "id": 21}], "name": "chair_seat", "ori_id": 4, "text": "chair_seat", "objs": ["original-31", "new-1"], "id": 18}, {"children": [{"children": [{"name": "central_support", "ori_id": 7, "id": 25, "objs": ["original-2"], "text": "central_support"}, {"children": [{"name": "leg", "ori_id": 9, "id": 27, "objs": ["original-24"], "text": "leg"}, {"name": "leg", "ori_id": 10, "id": 28, "objs": ["original-25"], "text": "leg"}, {"name": "leg", "ori_id": 11, "id": 29, "objs": ["original-27"], "text": "leg"}, {"name": "leg", "ori_id": 12, "id": 30, "objs": ["original-28"], "text": "leg"}, {"name": "leg", "ori_id": 13, "id": 31, "objs": ["original-26"], "text": "leg"}, {"children": [{"name": "wheel", "ori_id": 31, "id": 33, "objs": ["original-13"], "text": "wheel"}], "name": "caster", "ori_id": 14, "text": "caster", "objs": ["original-14", "original-13"], "id": 32}, {"children": [{"name": "wheel", "ori_id": 29, "id": 35, "objs": ["original-16"], "text": "wheel"}], "name": "caster", "ori_id": 15, "text": "caster", "objs": ["original-17", "original-16"], "id": 34}, {"children": [{"name": "wheel", "ori_id": 27, "id": 37, "objs": ["original-19"], "text": "wheel"}], "name": "caster", "ori_id": 16, "text": "caster", "objs": ["original-20", "original-19"], "id": 36}, {"children": [{"name": "wheel", "ori_id": 25, "id": 39, "objs": ["original-22"], "text": "wheel"}], "name": "caster", "ori_id": 17, "text": "caster", "objs": ["original-23", "original-22"], "id": 38}, {"children": [{"name": "wheel", "ori_id": 23, "id": 41, "objs": ["original-10"], "text": "wheel"}], "name": "caster", "ori_id": 18, "text": "caster", "objs": ["original-11", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/semantics.txt b/data/PartNet-Mobility/Chair/40890/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45a455d3c1c67eff57c945a53d52e9a8734859cc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 hinge rotation_body
+link_11 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af7df963495dafdcd36fe4d26d64e2a9466d629e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06c126214ef35b31b36f0880a55e24523e4985e2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-0.obj
@@ -0,0 +1,2089 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af7df963495dafdcd36fe4d26d64e2a9466d629e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4cf133634ca4befb60c253404b913095b85bba2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9795de6fc5f75c8220965b75502977d667bcb5b9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126f2347fd70d977b573b550a6266b0fd5018b0a
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9795de6fc5f75c8220965b75502977d667bcb5b9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.mtl
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127e770bb8442cc82fc0e9c7bc4d79af1bc84a09
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-3.obj
@@ -0,0 +1,6271 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-4.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86001e70a328818272da9d1c1cd6be49ccd2e739
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af7df963495dafdcd36fe4d26d64e2a9466d629e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023312583df1532fce77d418c8071eca87ebba15
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-5.obj
@@ -0,0 +1,3251 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af7df963495dafdcd36fe4d26d64e2a9466d629e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-6.mtl
@@ -0,0 +1,8 @@
+newmtl material-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/Chair/40890/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b67cc536944018b5ae15d4297a0fcec2be9e274e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-6.obj
@@ -0,0 +1,8591 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af7df963495dafdcd36fe4d26d64e2a9466d629e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.mtl
@@ -0,0 +1,8 @@
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+
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f92db58176a86eac01b7475b5b9b39b5e42f199
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/new-7.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50f8568671d065d5f21837df5256f99a9443a781
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/new-9.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9df3ae5172e4eaf0d6d6fcd194d635c4bd3d107c
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6dfea8b64765e664edc472f9c96d2a9933b85b7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-10.obj
@@ -0,0 +1,1534 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ccfbdb351d520d611862d69d17eb69b6882b68a3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f5e30a9d35681e1f0bfbf491f8ace96476154b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bd3778d7bed22491d24462e65fb6acf19858074
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-14.obj
@@ -0,0 +1,824 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.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 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a61c9e136842fe161f15fe27f2d3aa17260a752
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a31d6329679f5b7b5a175f92bc1da4ec901dc6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d3c97cf6023013837eda692bd91d2eee5fe505f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-2.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/Chair/40890/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8c89be7f45a9cc70790683c71b363aad7243e72
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-2.obj
@@ -0,0 +1,719 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cdf0eeca517e99f5cecf4ed85a5097459862289
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-20.obj
@@ -0,0 +1,824 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0e67d8c2f726be9ae66589a9e0572480bbfded7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d04920a6bae3e17d89f5e95185f91c21e2e9c2c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/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/Chair/40890/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..943953373c9ec30a3087976981e4f1e52eb58a20
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-24.obj
@@ -0,0 +1,2489 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/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/Chair/40890/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d21b4917740a5ba3e0f57cc88223fb3942f1792
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-25.obj
@@ -0,0 +1,2489 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/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/Chair/40890/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a1f107b4d7f694c20468840b96950240914cab9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-26.obj
@@ -0,0 +1,2489 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-27.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/Chair/40890/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..504d04cf1588c6031a436c4b5f5bc1299d9711f3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-27.obj
@@ -0,0 +1,2489 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-28.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/Chair/40890/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2b35d3788c76356fdebac14000abf4d43f7658
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-28.obj
@@ -0,0 +1,2535 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1d55a3dcf95e50da466b6f632ce5745b3aeca1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-29.obj
@@ -0,0 +1,5168 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58ff14d11c8f7e41eaac7aebd87416694f8065fe
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40890/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..947757265ddc8487f059a60543dcfb4574035899
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-33.obj
@@ -0,0 +1,12890 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5b020761f2c3aec8dc9e8cc8f66a2e267e6d4c3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-34.obj
@@ -0,0 +1,10895 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-38.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/Chair/40890/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0641e0fc8944cac2acff77316a927e9e0f811b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-4.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/Chair/40890/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cbc054565fc323f9f7cc7e38d8b6c0c39f527ae
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-4.obj
@@ -0,0 +1,2004 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb07e1b45a0d7c81d4bcb5dd8e0f9e498ecfc82a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11372549019607843 0.11372549019607843 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adee05a48f8ad535a4dd65e27f30a046e5be88c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-42.obj
@@ -0,0 +1,740 @@
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342f1d2683aaa7a7a154908cc8c2aabc39465c02
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/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/Chair/40890/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af61852ef7daf351f9c8164eb2a5de737405f1aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-5.obj
@@ -0,0 +1,2004 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-6.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/Chair/40890/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..281a7f5257da7b8b31d2a7ceaf3219bf92763ae7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-6.obj
@@ -0,0 +1,2004 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-7.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/Chair/40890/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..049e7835483f112358caeaf8b22ff87e3d190860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-7.obj
@@ -0,0 +1,2004 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/40890/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/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/Chair/40890/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/40890/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5baacf9ac64324008fa0e9c2236fdac7cc75417e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/textured_objs/original-8.obj
@@ -0,0 +1,2004 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/40890/tree_hier.html b/data/PartNet-Mobility/Chair/40890/tree_hier.html
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@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>58 back_surface Back Surface</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>59 back_support Back Support</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 back_frame Back Frame</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>61 back_connector Back Connector</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>53 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>65 arm_connector Arm Connector</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 arm_vertical_bar Arm Vertical Bar</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>64 arm_connector Arm Connector</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>43 seat_surface Seat Surface</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 seat_frame Seat Frame</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>63 back_soft_surface Back Soft Surface</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>62 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>46 seat_soft_surface Seat Soft Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>45 seat_holistic_frame Seat Holistic Frame</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 star_leg_set Star-shape Leg Set</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 central_support Central Support</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 footrest_ring Footrest Ring</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 mechanical_control Mechanical Control</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>47 seat_connector Seat Connector</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 caster Wheel Assembly</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 footrest_circular Footrest Circle</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 mounting_plate Mounting Plane</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>30 caster_yoke Caster Yoke</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>24 caster_yoke Caster Yoke</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 caster_yoke Caster Yoke</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 wheel Wheel</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40890/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40890/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..6c56b7117603c9df3caa7f311c760f2ab5a6bbc5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40890/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 chair_arm chair_arm</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_seat chair_seat</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 chair_base chair_base</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_frame back_frame</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 back_connector back_connector</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_connector arm_connector</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 arm_near_vertical_bar arm_near_vertical_bar</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 arm_connector arm_connector</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 seat_surface seat_surface</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>21 seat_frame seat_frame</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>24 star_leg_base star_leg_base</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 back_frame_horizontal_bar back_frame_horizontal_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>20 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>22 seat_holistic_frame seat_holistic_frame</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>25 central_support central_support</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 star_leg_set star_leg_set</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>42 central_support central_support</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 mechanical_control mechanical_control</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 leg leg</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster caster</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 caster caster</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 caster caster</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>39 wheel wheel</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/bounding_box.json b/data/PartNet-Mobility/Chair/40982/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56fdf583b606500e321e54f42f1ba4a8e0ad478
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.538262, -0.851125, -0.477367], "max": [0.535804, 0.845815, 0.587201]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/images/texture_0.jpg b/data/PartNet-Mobility/Chair/40982/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5fb1a72086446e6c40f5f72953e033f09a98c25f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c08a6cc47aff32a05df908a96dc9f96d976921b155462f2fd62492ee865431
+size 29772
diff --git a/data/PartNet-Mobility/Chair/40982/images/texture_1.jpg b/data/PartNet-Mobility/Chair/40982/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..84ec1a2fa0334e586b6e4c2364fe153b0303483a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b24c6634fa828714667bfde1e44383c6cc403b12ff7225a64eb5e75ce3221a9
+size 7997
diff --git a/data/PartNet-Mobility/Chair/40982/meta.json b/data/PartNet-Mobility/Chair/40982/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..401ceddf5f022ee98dd5cab31678ec7f44d9cc06
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/meta.json
@@ -0,0 +1 @@
+{"model_id": "966aaab0434c950cd7f7a4c4609b0913", "anno_id": "40982", "user_id": "zhangyu", "time_in_sec": "115", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/mobility.urdf b/data/PartNet-Mobility/Chair/40982/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9084ee79ac42e11224a849f2b2368a83fc0288d4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/mobility.urdf
@@ -0,0 +1,564 @@
+<?xml version="1.0" ?>
+<robot name="partnet_966aaab0434c950cd7f7a4c4609b0913">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-35">
+			<origin xyz="-0.026786001641303264 0.07736173171381461 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-35">
+			<origin xyz="-0.026786001641303264 0.07736173171381461 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.026786001641303264 0.07736173171381461 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.026786001641303264 0.07736173171381461 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.025544288470952418 -0.07736173171381461 -0.08270271317035086"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+		<limit lower="-0.0" upper="0.17592918860102813"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_yoke-32">
+			<origin xyz="0.3032594340364455 0 -0.5020624498027628"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3032594340364455 0 -0.5020624498027628"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.3032594340364455 0 0.5020624498027628"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-33">
+			<origin xyz="0.04632398649113435 0.8011195 0.017776726933685396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04632398649113435 0.8011195 0.017776726933685396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.25693544754531117 -0.8011195 -0.5198391767364482"/>
+		<axis xyz="-0.35827334908469555 0 0.9336167347127172"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-34">
+			<origin xyz="0.04632398649113435 0.8011195 0.017776726933685396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.04632398649113435 0.8011195 0.017776726933685396"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.25693544754531117 -0.8011195 -0.5198391767364482"/>
+		<axis xyz="-0.35827334908469555 0 0.9336167347127172"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke-29">
+			<origin xyz="0.4849256019294276 0 0.07797997772693746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4849256019294276 0 0.07797997772693746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.4849256019294276 0 -0.07797997772693746"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-30">
+			<origin xyz="0.0001546531623606164 0.8011194034113758 -0.002952573401918952"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0001546531623606164 0.8011194034113758 -0.002952573401918952"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.48477094876706694 -0.8011194034113758 0.08093255112885642"/>
+		<axis xyz="-0.9986310306601165 0 -0.05230740485546476"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-31">
+			<origin xyz="0.0001546531623606164 0.8011194034113758 -0.002952573401918952"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0001546531623606164 0.8011194034113758 -0.002952573401918952"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.48477094876706694 -0.8011194034113758 0.08093255112885642"/>
+		<axis xyz="-0.9986310306601165 0 -0.05230740485546476"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_yoke-26">
+			<origin xyz="-0.0016907364130020301 0 0.44049966275691954"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0016907364130020301 0 0.44049966275691954"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.0016907364130020301 0 -0.44049966275691954"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-27">
+			<origin xyz="-0.05816866872412691 0.8011191736308064 0.015597262687667056"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.05816866872412691 0.8011191736308064 0.015597262687667056"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.056477932311124884 -0.8011191736308064 0.4249024000692525"/>
+		<axis xyz="-0.2589896850358935 0 -0.9658800873012181"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-28">
+			<origin xyz="-0.05816866872412691 0.8011191736308064 0.015597262687667056"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.05816866872412691 0.8011191736308064 0.015597262687667056"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.056477932311124884 -0.8011191736308064 0.4249024000692525"/>
+		<axis xyz="-0.2589896850358935 0 -0.9658800873012181"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_yoke-23">
+			<origin xyz="-0.49216013848781537 0 0.07944903656840363"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.49216013848781537 0 0.07944903656840363"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.49216013848781537 0 -0.07944903656840363"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-24">
+			<origin xyz="-0.08196708297133364 0.8011194626412486 -0.12617584403026028"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08196708297133364 0.8011194626412486 -0.12617584403026028"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.4101930555164817 -0.8011194626412486 0.2056248805986639"/>
+		<axis xyz="-0.8385869785570549 0 0.5447677297661356"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-25">
+			<origin xyz="-0.08196708297133364 0.8011194626412486 -0.12617584403026028"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08196708297133364 0.8011194626412486 -0.12617584403026028"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.4101930555164817 -0.8011194626412486 0.2056248805986639"/>
+		<axis xyz="-0.8385869785570549 0 0.5447677297661356"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_yoke-20">
+			<origin xyz="-0.3061587283015246 0 -0.5083526039123527"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3061587283015246 0 -0.5083526039123527"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.3061587283015246 0 0.5083526039123527"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-21">
+			<origin xyz="0.09055972189324311 0.8011194897959033 -0.1118652696956589"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.09055972189324311 0.8011194897959033 -0.1118652696956589"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.3967184501947677 -0.8011194897959033 -0.3964873342166938"/>
+		<axis xyz="0.7772376738155226 0 0.6292071188423057"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-22">
+			<origin xyz="0.09055972189324311 0.8011194897959033 -0.1118652696956589"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.09055972189324311 0.8011194897959033 -0.1118652696956589"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.3967184501947677 -0.8011194897959033 -0.3964873342166938"/>
+		<axis xyz="0.7772376738155226 0 0.6292071188423057"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="back_soft_surface-43">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-41">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-42">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-42">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-42">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-39">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-38">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-7">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-36">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-36">
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0012417131703508465 0 -0.08270271317035086"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.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-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.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-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.0012417131703508465 0 0.08270271317035086"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.06000000000000005"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40982/mobility_v2.json b/data/PartNet-Mobility/Chair/40982/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..83616358627b846e7a295100d8c55d21795a66d2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40982/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0b94e14c0f1ccaa5ae1ab2b4228ecfd0c60559ac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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index 0000000000000000000000000000000000000000..702959eb9ffb31dde3897aefcc450066fefb3188
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new file mode 100644
index 0000000000000000000000000000000000000000..75d4a5bd501eef19044a8c987a217d145834969d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf5716660838a766bf1d0b9a697c41c25553523f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..75e2e4ad15894e9b0270cb194f58ed51fe736f94
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..66a4b777905f0b5e6c5faeb2f9a579a17450cab2
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diff --git a/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5770e8a78267e7f5de1d4d0aa38efec030429fee
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40982/result.json b/data/PartNet-Mobility/Chair/40982/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d03fc52938b9e1ddb0ce94a263903e1f828bea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-6"], "id": 43, "name": "back_soft_surface"}], "id": 40, "name": "back_surface"}, {"text": "Back Support", "objs": ["original-5"], "id": 41, "name": "back_support"}, {"text": "Back Connector", "objs": ["original-3", "original-10", "original-1"], "id": 42, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-8"], "id": 39, "name": "seat_soft_surface"}], "id": 37, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-9"], "id": 38, "name": "seat_support"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["original-69"], "id": 5, "name": "central_support"}, {"text": "Central Support", "objs": ["original-68"], "id": 6, "name": "central_support"}, {"text": "Central Support", "objs": ["original-71"], "id": 7, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-74", "original-75"], "id": 35, "name": "lever"}, {"text": "Mounting Plane", "objs": ["original-77", "original-70"], "id": 36, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-22"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-55"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-66"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-33"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-35"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-38"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-44"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-43"], "id": 34, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-15"], "id": 29, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-21"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-20"], "id": 31, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-48"], "id": 26, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-54"], "id": 27, "name": "wheel"}, {"text": "Wheel", "objs": ["original-53"], "id": 28, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-59"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-65"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-64"], "id": 25, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-26"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-32"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-31"], "id": 22, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}], "id": 4, "name": "star_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/result_after_merging.json b/data/PartNet-Mobility/Chair/40982/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f5d7bc1c9c2ad896cc5ebc8fa409b7c4b69af1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "text": "chair", "id": 0, "objs": ["original-6", "original-5", "original-3", "original-10", "original-1", "original-8", "original-9", "original-69", "original-68", "original-71", "original-74", "original-75", "original-77", "original-70", "original-22", "original-55", "original-66", "original-33", "original-35", "original-38", "original-44", "original-43", "original-15", "original-21", "original-20", "original-48", "original-54", "original-53", "original-59", "original-65", "original-64", "original-26", "original-32", "original-31"], "children": [{"name": "chair_back", "text": "chair_back", "id": 1, "objs": ["original-6", "original-5", "original-3", "original-10", "original-1"], "children": [{"name": "back_surface", "text": "back_surface", "id": 2, "objs": ["original-6"], "children": [{"name": "back_single_surface", "text": "back_single_surface", "ori_id": 43, "id": 3, "objs": ["original-6"]}], "ori_id": 40}, {"name": "back_support", "text": "back_support", "ori_id": 41, "id": 4, "objs": ["original-5"]}, {"name": "back_connector", "text": "back_connector", "ori_id": 42, "id": 5, "objs": ["original-3", "original-10", "original-1"]}], "ori_id": 1}, {"name": "chair_seat", "text": "chair_seat", "id": 6, "objs": ["original-8", "original-9"], "children": [{"name": "seat_surface", "text": "seat_surface", "id": 7, "objs": ["original-8"], "children": [{"name": "seat_single_surface", "text": "seat_single_surface", "ori_id": 39, "id": 8, "objs": ["original-8"]}], "ori_id": 37}, {"name": "seat_support", "text": "seat_support", "ori_id": 38, "id": 9, "objs": ["original-9"]}], "ori_id": 2}, {"name": "chair_base", "text": "chair_base", "id": 10, "objs": ["original-69", "original-68", "original-71", "original-74", "original-75", "original-77", "original-70", "original-22", "original-55", "original-66", "original-33", "original-35", "original-38", "original-44", "original-43", "original-15", "original-21", "original-20", "original-48", "original-54", "original-53", "original-59", "original-65", "original-64", "original-26", "original-32", "original-31"], "children": [{"name": "star_leg_base", "text": "star_leg_base", "id": 11, "objs": ["original-69", "original-68", "original-71", "original-74", "original-75", "original-77", "original-70", "original-22", "original-55", "original-66", "original-33", "original-35", "original-38", "original-44", "original-43", "original-15", "original-21", "original-20", "original-48", "original-54", "original-53", "original-59", "original-65", "original-64", "original-26", "original-32", "original-31"], "children": [{"name": "central_support", "text": "central_support", "ori_id": 5, "id": 12, "objs": ["original-69"]}, {"name": "central_support", "text": "central_support", "ori_id": 6, "id": 13, "objs": ["original-68"]}, {"name": "central_support", "text": "central_support", "ori_id": 7, "id": 14, "objs": ["original-71"]}, {"name": "mechanical_control", "text": "mechanical_control", "id": 15, "objs": ["original-74", "original-75", "original-77", "original-70"], "children": [{"name": "lever", "text": "lever", "ori_id": 35, "id": 16, "objs": ["original-74", "original-75"]}], "ori_id": 8}, {"name": "star_leg_set", "text": "star_leg_set", "id": 17, "objs": ["original-22", "original-55", "original-66", "original-33", "original-35", "original-38", "original-44", "original-43", "original-15", "original-21", "original-20", "original-48", "original-54", "original-53", "original-59", "original-65", "original-64", "original-26", "original-32", "original-31"], "children": [{"name": "leg", "text": "leg", "ori_id": 10, "id": 18, "objs": ["original-22"]}, {"name": "leg", "text": "leg", "ori_id": 11, "id": 19, "objs": ["original-55"]}, {"name": "leg", "text": "leg", "ori_id": 12, "id": 20, "objs": ["original-66"]}, {"name": "leg", "text": "leg", "ori_id": 13, "id": 21, "objs": ["original-33"]}, {"name": "leg", "text": "leg", "ori_id": 14, "id": 22, "objs": ["original-35"]}, {"name": "caster", "text": "caster", "id": 23, "objs": ["original-38", "original-44", "original-43"], "children": [{"name": "wheel", "text": "wheel", "ori_id": 33, "id": 24, "objs": ["original-44"]}, {"name": "wheel", "text": "wheel", "ori_id": 34, "id": 25, "objs": ["original-43"]}], "ori_id": 15}, {"name": "caster", "text": "caster", "id": 26, "objs": ["original-15", "original-21", "original-20"], "children": [{"name": "wheel", "text": "wheel", "ori_id": 30, "id": 27, "objs": ["original-21"]}, {"name": "wheel", "text": "wheel", "ori_id": 31, "id": 28, "objs": ["original-20"]}], "ori_id": 16}, {"name": "caster", "text": "caster", "id": 29, "objs": ["original-48", "original-54", "original-53"], "children": [{"name": "wheel", "text": "wheel", "ori_id": 27, "id": 30, "objs": ["original-54"]}, {"name": "wheel", "text": "wheel", "ori_id": 28, "id": 31, "objs": ["original-53"]}], "ori_id": 17}, {"name": "caster", "text": "caster", "id": 32, "objs": ["original-59", "original-65", "original-64"], "children": [{"name": "wheel", "text": "wheel", "ori_id": 24, "id": 33, "objs": ["original-65"]}, {"name": "wheel", "text": "wheel", "ori_id": 25, "id": 34, "objs": ["original-64"]}], "ori_id": 18}, {"name": "caster", "text": "caster", "id": 35, "objs": ["original-26", "original-32", "original-31"], "children": [{"name": "wheel", "text": "wheel", "ori_id": 21, "id": 36, "objs": ["original-32"]}, {"name": "wheel", "text": "wheel", "ori_id": 22, "id": 37, "objs": ["original-31"]}], "ori_id": 19}], "ori_id": 9}], "ori_id": 4}], "ori_id": 3}], "ori_id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/semantics.txt b/data/PartNet-Mobility/Chair/40982/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9d113ded1a0433c6292f13ff71fe03e95bdc9e21
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge lever
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-1.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-1.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749a8a149bc270a9b802e4371259c7986146493e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-1.obj
@@ -0,0 +1,4781 @@
+# SSTK version 0.8.0
+# 1
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8305e535a55f9a4a62e58f669a9b16f756e4b2a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-10.obj
@@ -0,0 +1,12559 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-15.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/Chair/40982/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ced6a4571b6c0a9bb65839f7b0a6d5ad9c2ef34b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1a26a7a4687e57b5364117e8e57a0a9f0e8919
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-20.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4bdfb503e1b8aec07dc3b1fb516b7b5b084112d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-21.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17e6b0b43c712aa1b4ebb529d6876007e3cbc9b5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-22.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56d1dd50c96c123cfc0c5da619521b46972c57dd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-26.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 26
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2489de0a3b9470fb66b933723f8e03ede8459568
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-3.obj
@@ -0,0 +1,2406 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52b8f5eedb57fd7214defa385caa5a4518ae1755
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-31.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 31
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f567b837046ccb826d0085268d86276f6356fe5b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-32.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 32
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a25a0783d3def4b8ac0afe68f2a2004e1debed7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-33.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/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/Chair/40982/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47f9a04c8078fc68cee42b8c756cc8b6da502387
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9110ff834a3531faf30185b16af848e292dea39
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-38.obj
@@ -0,0 +1,4231 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-43.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-43.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f060afc4db7995cbb5b0added0930915647a4b86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-43.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-44.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/Chair/40982/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbf87d21089d1a2dea0ba92ea1c08fc4ab73da1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe0b696119c60b2a942bbe5734f4a466cdb3a6d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-48.obj
@@ -0,0 +1,4229 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6d740b463bfd40d560167edb028d3193bac376
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-5.obj
@@ -0,0 +1,12373 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29eed4ab7993bbe9d78f5f33744a3ded1ac9c28b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-53.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64385aaecddd1c23e867b88c2949fcc544b5d5cb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-54.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-55.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/Chair/40982/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1363d95830e01d3f0e5e1756068a4d1a0974e235
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-55.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0514f3333491212d37aae27485bf057404acb82e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-59.obj
@@ -0,0 +1,4231 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.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.jpg
+
diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7a4106b497625db4abc8dbfd7dbae40273cfaab
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-6.obj
@@ -0,0 +1,31540 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-64.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-64.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfd880eab820f596e0d3a2be3df5719a305b342f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-64.obj
@@ -0,0 +1,1156 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-65.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-65.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30422e281815ea4f3d5d39bdfafa7f33d0363d4a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-65.obj
@@ -0,0 +1,1156 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64affacbfb5cdfa2a9555bb55e5f992d396871dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-66.obj
@@ -0,0 +1,753 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dcc0c879eeff0f59abb0a3191345f8981d0c756
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-68.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18c60cba5180ef2da294a61505f661b7852e7ecf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-69.obj
@@ -0,0 +1,263 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..093c1e49805cb72bfed950d6a7d50121cca6fb43
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-70.obj
@@ -0,0 +1,615 @@
+# SSTK version 0.8.0
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+mtllib original-70.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-75.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-75.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11e7cd3e1034db6a60f2d8775938efd98905b042
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-75.obj
@@ -0,0 +1,291 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-77.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-77.mtl
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-77.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ae718bba48cceb698a84e90e271ceaa4b82b85
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db0bfdd7b775f771e1ba810038d3cb3b447f2b0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Chair/40982/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/40982/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_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/Chair/40982/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/40982/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d2b6689f3da8c50d0b992a9bbcc4f76f2acaf2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/textured_objs/original-9.obj
@@ -0,0 +1,17024 @@
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diff --git a/data/PartNet-Mobility/Chair/40982/tree_hier.html b/data/PartNet-Mobility/Chair/40982/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6d1b6fab595cc18b223e808a6aeb1dafe3432f10
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_seat Chair Seat</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_base Chair Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>40 back_surface Back Surface</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 back_support Back Support</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 back_connector Back Connector</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 seat_surface Seat Surface</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>38 seat_support Seat Support</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 star_leg_base Star-shape Leg Base</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td><p>43 back_soft_surface Back Soft Surface</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 seat_soft_surface Seat Soft Surface</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 central_support Central Support</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 central_support Central Support</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 mechanical_control Mechanical Control</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 lever Lever</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 mounting_plate Mounting Plane</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_yoke Caster Yoke</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 caster_yoke Caster Yoke</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel Wheel</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_yoke Caster Yoke</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40982/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40982/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..279848a80bd0e4d7d545ebc4d297b74291b55b0c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40982/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_seat chair_seat</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_base chair_base</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_support back_support</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 seat_surface seat_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>9 seat_support seat_support</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 star_leg_base star_leg_base</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>12 central_support central_support</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 central_support central_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 central_support central_support</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 mechanical_control mechanical_control</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 star_leg_set star_leg_set</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>16 lever lever</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 caster caster</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>26 caster caster</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>29 caster caster</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 wheel wheel</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 wheel wheel</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 wheel wheel</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 wheel wheel</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/bounding_box.json b/data/PartNet-Mobility/Chair/41045/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e480b05fd166604d0099bc9c7da247e2fc170f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.635401, -0.789613, -0.583019], "max": [0.633381, 0.849446, 0.66114]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/meta.json b/data/PartNet-Mobility/Chair/41045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69020cd953d0756907064b26d6c23c0d038e1dcf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/meta.json
@@ -0,0 +1 @@
+{"model_id": "972355f42223e6199cd431573238602d", "anno_id": "41045", "user_id": "w15631998789", "time_in_sec": "1035", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/41045/mobility.urdf b/data/PartNet-Mobility/Chair/41045/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2abc55bba22ccc8ba1d6bc016f301f0b0c907fe2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/41045/mobility.urdf
@@ -0,0 +1,720 @@
+<?xml version="1.0" ?>
+<robot name="partnet_972355f42223e6199cd431573238602d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-64">
+			<origin xyz="0.10662129843374718 0.2718057001110258 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-64">
+			<origin xyz="0.10662129843374718 0.2718057001110258 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.10662129843374718 0.2718057001110258 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.10662129843374718 0.2718057001110258 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.1148232316388749 -0.2718057001110258 -0.05943676114082336"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+		<limit lower="0.0" upper="0.22619467105846508"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-42">
+			<origin xyz="0.09363833915328418 0.735075943713968 -0.18552630677876125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.09363833915328418 0.735075943713968 -0.18552630677876125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.4599586608467158 -0.735075943713968 0.2661423067787613"/>
+		<axis xyz="0.8925854475194669 9.462854581938143e-05 0.45087826508040024"/>
+		<child link="link_1"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-43">
+			<origin xyz="0.09363833915328418 0.735075943713968 -0.18552630677876125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.09363833915328418 0.735075943713968 -0.18552630677876125"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.4599586608467158 -0.735075943713968 0.2661423067787613"/>
+		<axis xyz="0.8925854475194669 9.462854581938143e-05 0.45087826508040024"/>
+		<child link="link_2"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-38">
+			<origin xyz="0.10411454934796291 0.7351137364604184 0.01221491713943075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.10411454934796291 0.7351137364604184 0.01221491713943075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.0900510493479629 -0.7351137364604184 0.5080175828605692"/>
+		<axis xyz="0.11666230901230853 -2.0043823589196747e-05 -0.9931716393726524"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-39">
+			<origin xyz="0.10411454934796291 0.7351137364604184 0.01221491713943075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.10411454934796291 0.7351137364604184 0.01221491713943075"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0900510493479629 -0.7351137364604184 0.5080175828605692"/>
+		<axis xyz="0.11666230901230853 -2.0043823589196747e-05 -0.9931716393726524"/>
+		<child link="link_4"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-34">
+			<origin xyz="0.008018772424909127 0.7350124238633533 0.033868182140399626"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008018772424909127 0.7350124238633533 0.033868182140399626"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.5797277724249091 -0.7350124238633533 0.10589381785960036"/>
+		<axis xyz="0.9732348833257728 -2.831497491573488e-05 -0.22981266517781748"/>
+		<child link="link_5"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-35">
+			<origin xyz="0.008018772424909127 0.7350124238633533 0.033868182140399626"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008018772424909127 0.7350124238633533 0.033868182140399626"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.5797277724249091 -0.7350124238633533 0.10589381785960036"/>
+		<axis xyz="0.9732348833257728 -2.831497491573488e-05 -0.22981266517781748"/>
+		<child link="link_6"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-26">
+			<origin xyz="0.0056930499171572516 0.739085879567008 -0.004463832860081353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0056930499171572516 0.739085879567008 -0.004463832860081353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.3850880499171573 -0.739085879567008 -0.5362821671399186"/>
+		<axis xyz="-0.619780645478474 3.428214740581848e-05 -0.7847750953712922"/>
+		<child link="link_7"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-27">
+			<origin xyz="0.0056930499171572516 0.739085879567008 -0.004463832860081353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0056930499171572516 0.739085879567008 -0.004463832860081353"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.3850880499171573 -0.739085879567008 -0.5362821671399186"/>
+		<axis xyz="-0.619780645478474 3.428214740581848e-05 -0.7847750953712922"/>
+		<child link="link_8"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-22">
+			<origin xyz="-0.12090983243697472 0.7351062085313982 -0.0999969620258475"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12090983243697472 0.7351062085313982 -0.0999969620258475"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.42668033243697473 -0.7351062085313982 -0.46844303797415254"/>
+		<axis xyz="-0.637419879371478 -2.8578490703480063e-05 0.7705166426270884"/>
+		<child link="link_9"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-23">
+			<origin xyz="-0.12090983243697472 0.7351062085313982 -0.0999969620258475"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.12090983243697472 0.7351062085313982 -0.0999969620258475"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.42668033243697473 -0.7351062085313982 -0.46844303797415254"/>
+		<axis xyz="-0.637419879371478 -2.8578490703480063e-05 0.7705166426270884"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="back_hard_surface-58">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-57">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-57">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_support-57">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-53">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-54">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-55">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-67">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-50">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-51">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-52">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-68">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_hard_surface-49">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-66">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-44">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-65">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-65">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_connector-65">
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.008201933205127718 0 -0.05943676114082336"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_11_helper"/>
+	</joint>
+	<link name="link_12">
+		<visual name="central_support-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_12"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_yoke-40">
+			<origin xyz="0.553597 0 0.080616"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-41">
+			<origin xyz="0.553597 0 0.080616"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.553597 0 0.080616"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.553597 0 0.080616"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.553597 0 -0.080616"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-36">
+			<origin xyz="0.0140635 0 0.5202325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-37">
+			<origin xyz="0.0140635 0 0.5202325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0140635 0 0.5202325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0140635 0 0.5202325"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.0140635 0 -0.5202325"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke-32">
+			<origin xyz="-0.571709 0 0.139762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-33">
+			<origin xyz="-0.571709 0 0.139762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.571709 0 0.139762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.571709 0 0.139762"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.571709 0 -0.139762"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke-24">
+			<origin xyz="-0.37939500000000004 0 -0.540746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-25">
+			<origin xyz="-0.37939500000000004 0 -0.540746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.37939500000000004 0 -0.540746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.37939500000000004 0 -0.540746"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.37939500000000004 0 0.540746"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_17">
+		<visual name="caster_yoke-20">
+			<origin xyz="0.3057705 0 -0.5684400000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-21">
+			<origin xyz="0.3057705 0 -0.5684400000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3057705 0 -0.5684400000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3057705 0 -0.5684400000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="-0.3057705 0 0.5684400000000001"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_17"/>
+		<parent link="link_12"/>
+	</joint>
+	<link name="link_11_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.008201933205127718 0 0.05943676114082336"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_11_helper"/>
+		<parent link="link_12"/>
+		<limit lower="0" upper="0.04400000000000004"/>
+	</joint>
+</robot>