diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ac2870de4e41a4eae41d81ae3693d63baeca09
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/textured_objs/original-9.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
+v -0.387590 -0.677051 -0.290567
+v -0.445613 -0.699050 -0.310454
+v -0.387590 -0.701390 -0.310672
+v -0.446282 -0.675790 -0.288383
+v -0.400419 -0.727558 -0.312638
+v -0.387638 -0.670160 -0.254780
+v -0.446624 -0.672259 -0.247468
+v -0.388370 -0.698729 -0.221710
+v -0.446282 -0.702217 -0.220444
+v -0.387590 -0.727563 -0.218975
+v -0.446282 -0.727563 -0.218975
+vn -0.008620999892440096 -0.8074039899264243 0.5899359926396637
+vn -0.008379995638108656 -0.9286075166483058 0.37096880690614914
+vn -0.03877601519141816 -0.9267463630747375 -0.37368114639839933
+vn 0.03877601519141816 0.9267463630747375 0.37368114639839933
+vn 0.008379995638108656 0.9286075166483058 -0.37096880690614914
+vn 0.008620999892440096 0.8074039899264243 -0.5899359926396637
+vn 0.015549994179280617 -0.9360546496132809 0.3515108684214218
+vn -0.015549994179280617 0.9360546496132809 -0.3515108684214218
+vn -0.000703000065167406 0.0752680069772693 -0.9971630924360259
+vn 0.000703000065167406 -0.0752680069772693 0.9971630924360259
+vn 0.016058006247938603 -0.9903163853178207 0.1378970536537545
+vn -0.016058006247938603 0.9903163853178207 -0.1378970536537545
+vn 0.046114983447168016 -0.9952046427743433 0.08626196903653058
+vn -0.046114983447168016 0.9952046427743433 -0.08626196903653058
+vn -0.010074995947787069 -0.9574486149094572 -0.28842788399288627
+vn -0.015059006263561544 -0.7141552970418882 -0.6998252910815431
+vn -0.05412801787878497 -0.7550222493880427 -0.6534612158418692
+vn 0.05412801787878497 0.7550222493880427 0.6534612158418692
+vn 0.015059006263561544 0.7141552970418882 0.6998252910815431
+vn 0.010074995947787069 0.9574486149094572 0.28842788399288627
+vn 0.02963498635995242 -0.38154382438743667 0.923875574769273
+vn -0.02963498635995242 0.38154382438743667 -0.923875574769273
+vn 0.008024002725689997 0.07638202594636757 0.9970463386887224
+vn -0.008024002725689997 -0.07638202594636757 -0.9970463386887224
+vn 0 0.05787499060686085 0.998323837971555
+vn 0 -0.05787499060686085 -0.998323837971555
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 1//1 4//7 2//2
+f 2//5 4//8 1//6
+f 3//3 5//9 2//2
+f 2//5 5//10 3//4
+f 6//11 4//7 1//1
+f 1//6 4//8 6//12
+f 7//13 4//7 6//11
+f 6//12 4//8 7//14
+f 8//15 7//16 6//17
+f 6//18 7//19 8//20
+f 8//15 9//21 7//16
+f 7//19 9//22 8//20
+f 10//23 8//15 9//21
+f 9//22 8//20 10//24
+f 10//23 9//21 11//25
+f 11//26 9//22 10//24
diff --git a/data/PartNet-Mobility/Chair/39628/tree_hier.html b/data/PartNet-Mobility/Chair/39628/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1d89d816d0fdb08e6db2c531b8b06bb7c7cb51f4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/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></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>29 back_surface Back Surface</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>30 back_frame Back Frame</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>31 back_connector Back Connector</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 back_connector Back Connector</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 seat_surface Seat Surface</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 seat_support Seat Support</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>5 regular_leg_base Regular Leg Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>36 back_hard_surface Back Hard Surface</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>33 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 seat_hard_surface Seat Hard 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></td><td></td><td></td><td><p>6 leg Leg</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 leg Leg</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 leg Leg</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></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 caster Wheel Assembly</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 caster Wheel Assembly</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 caster Wheel Assembly</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 caster Wheel Assembly</p><a href="parts_render/13.png"><img src="parts_render/13.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><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><td></td><td></td><td><p>17 caster_yoke Caster Yoke</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 wheel Wheel</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 wheel Wheel</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 caster_yoke Caster Yoke</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 wheel Wheel</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 wheel Wheel</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39628/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39628/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e1282f3588a5dfcdf7acde50338f43d96f71f146
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39628/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></td><td></td><td></td><td></td><td><p>10 chair_seat chair_seat</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><p>14 chair_base chair_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.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_frame back_frame</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></td><td></td><td></td><td><p>8 back_connector back_connector</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 back_connector back_connector</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 seat_surface seat_surface</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><p>13 seat_support seat_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></td><td><p>15 regular_leg_base regular_leg_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>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><p>5 back_frame_vertical_bar back_frame_vertical_bar</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_frame_vertical_bar back_frame_vertical_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><p>7 back_frame_horizontal_bar back_frame_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></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_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></td><td></td><td></td><td><p>16 leg leg</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 leg leg</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 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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/bounding_box.json b/data/PartNet-Mobility/Chair/39988/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1d9c9875ffaf98ac963b30e7b1f7839a5a2303f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.502588, -0.793093, -0.430456], "max": [0.494296, 0.969509, 0.543375]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/meta.json b/data/PartNet-Mobility/Chair/39988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c265e3b7df71ed31c551b19a1edb2c36d968478
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/meta.json
@@ -0,0 +1 @@
+{"model_id": "7b86f52727b40120e3f7a74e12a274ef", "anno_id": "39988", "user_id": "yz-majinghua", "time_in_sec": "419", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/mobility.urdf b/data/PartNet-Mobility/Chair/39988/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f967e7c5488d375b9b22245b8834bec6545e361
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/mobility.urdf
@@ -0,0 +1,587 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7b86f52727b40120e3f7a74e12a274ef">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-47">
+			<origin xyz="-0.00013685699231568435 -0.02260754712939204 -0.03266884328267513"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.00013685699231568435 -0.02260754712939204 -0.03266884328267513"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.0010611430076843157 0.02260754712939204 -0.013155156717324867"/>
+		<axis xyz="1.8751637718091137e-05 0.822302224014477 -0.5690510100414734"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_stem-41">
+			<origin xyz="0.2548007611073273 0 -0.3955540124549917"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2548007611073273 0 -0.3955540124549917"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.2548007611073273 0 0.3955540124549917"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-42">
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.3448695275698386 -0.7601260000000001 -0.11834113655243661"/>
+		<axis xyz="0.9510596993395045 0 -0.3090071978000699"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-43">
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.3448695275698386 -0.7601260000000001 -0.11834113655243661"/>
+		<axis xyz="0.9510596993395045 0 -0.3090071978000699"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem-38">
+			<origin xyz="0.4107145 0 0.0872745"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4107145 0 0.0872745"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.4107145 0 -0.0872745"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-39">
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.3439926925155167 -0.7601260000000001 -0.11806493536756657"/>
+		<axis xyz="0.9510524578958283 0 -0.3090294845646673"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-40">
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.3439926925155167 -0.7601260000000001 -0.11806493536756657"/>
+		<axis xyz="0.9510524578958283 0 -0.3090294845646673"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_stem-35">
+			<origin xyz="0.00017015359537719127 0 0.38520586536538737"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00017015359537719127 0 0.38520586536538737"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.00017015359537719127 0 -0.38520586536538737"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-36">
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.11489074427015605 -0.760126 0.031035804246323684"/>
+		<axis xyz="0.9510690771442232 0 -0.3089783333828371"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-37">
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.11489074427015605 -0.760126 0.031035804246323684"/>
+		<axis xyz="0.9510690771442232 0 -0.3089783333828371"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_stem-32">
+			<origin xyz="-0.4096495 0 0.0866835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4096495 0 0.0866835"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.4096495 0 -0.0866835"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-33">
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.39786965219190873 -0.760126 0.12294831564633697"/>
+		<axis xyz="-0.9510819826303847 0 0.3089386060625266"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-34">
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.39786965219190873 -0.760126 0.12294831564633697"/>
+		<axis xyz="-0.9510819826303847 0 0.3089386060625266"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_stem-29">
+			<origin xyz="-0.252372 0 -0.396555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.252372 0 -0.396555"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.252372 0 0.396555"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel-30">
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.11353441853131693 -0.760126 0.030612505729586348"/>
+		<axis xyz="0.9510287399393963 0 -0.3091024681384542"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-31">
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.11353441853131693 -0.760126 0.030612505729586348"/>
+		<axis xyz="0.9510287399393963 0 -0.3091024681384542"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="back_soft_surface-60">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-57">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-58">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pillow-59">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-54">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-55">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-62">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-52">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-53">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector-61">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-51">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-50">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-44">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.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-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-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/new-2.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>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.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="0.001198 0 0.045824"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/39988/mobility_v2.json b/data/PartNet-Mobility/Chair/39988/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76eb4f2d8d6eaef25d7cda0df2a5515eed0ffab0
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/39988/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..666decce0df53b324278ab4ad706976c0e0f1aa5
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index 0000000000000000000000000000000000000000..ab820b684d417020e24978179386af0413fd2a22
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diff --git a/data/PartNet-Mobility/Chair/39988/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/39988/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ab70b804905a485d6984f0c13b459978efeff62
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64666cfc5c00595f4ef743bc066ef7bb69452868
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d9e30c82cdc566687e0333c387af3ae1a989923
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ae97b497c81dbd0b2def8c94f2a36c2c07410c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/39988/result.json b/data/PartNet-Mobility/Chair/39988/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b83ba7843f63add10a7399c2a418f1808704a8f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-7"], "id": 60, "name": "back_soft_surface"}], "id": 56, "name": "back_surface"}, {"text": "Back Connector", "objs": ["new-8"], "id": 57, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-9"], "id": 58, "name": "back_connector"}, {"text": "Pillow", "objs": ["new-10"], "id": 59, "name": "pillow"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-30"], "id": 54, "name": "armrest_hard_surface"}, {"text": "Arm Horizontal Bar", "objs": ["original-31"], "id": 55, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-38"], "id": 62, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-33"], "id": 52, "name": "armrest_hard_surface"}, {"text": "Arm Horizontal Bar", "objs": ["original-34"], "id": 53, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-37"], "id": 61, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-6"], "id": 51, "name": "seat_soft_surface"}], "id": 49, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-3"], "id": 50, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-5"], "id": 7, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-12"], "id": 41, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-14"], "id": 42, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 43, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Leg", "objs": ["new-2"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 22, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 23, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 24, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-21"], "id": 38, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-22"], "id": 39, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 40, "name": "wheel"}], "id": 25, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-25"], "id": 35, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-26"], "id": 36, "name": "wheel"}, {"text": "Wheel", "objs": ["original-27"], "id": 37, "name": "wheel"}], "id": 26, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-8"], "id": 32, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-9"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-10"], "id": 34, "name": "wheel"}], "id": 27, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-17"], "id": 29, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 31, "name": "wheel"}], "id": 28, "name": "caster"}], "id": 8, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-5"], "id": 44, "name": "central_support"}, {"text": "Central Support", "objs": ["original-6"], "id": 45, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Knob", "objs": ["original-4"], "id": 47, "name": "knob"}], "id": 46, "name": "mechanical_control"}], "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/39988/result_after_merging.json b/data/PartNet-Mobility/Chair/39988/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb9847e2d47a58b616855148bf926468844af2e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/result_after_merging.json
@@ -0,0 +1 @@
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"id": 14, "objs": ["new-6", "original-3"], "text": "chair_seat", "children": [{"ori_id": 49, "id": 15, "objs": ["new-6"], "text": "seat_surface", "children": [{"id": 16, "ori_id": 51, "text": "seat_single_surface", "name": "seat_single_surface", "objs": ["new-6"]}], "name": "seat_surface"}, {"id": 17, "ori_id": 50, "text": "seat_support", "name": "seat_support", "objs": ["original-3"]}], "name": "chair_seat"}, {"ori_id": 5, "id": 18, "objs": ["new-5", "original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", "original-26", "original-27", "original-8", "original-9", "original-10", "original-17", "original-19", "original-18", "original-5", "original-6", "original-4"], "text": "chair_base", "children": [{"ori_id": 6, "id": 19, "objs": ["new-5", "original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", 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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/semantics.txt b/data/PartNet-Mobility/Chair/39988/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e07d7be632afc207ce06740ee1db5c3f08e29e7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge knob
+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/39988/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-0.mtl
@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a957eed4d9391a28abac4d8c40ad8b36c09f0a60
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-0.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-1.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-1.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-1.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-1.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-10.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-10.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-10.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a5bcfe9af86e869df7af3db85dd22b469d9145f
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.mtl
@@ -0,0 +1,24 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ee19881e7fcceb1c053fea29bc69efe77021b06
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-2.obj
@@ -0,0 +1,1023 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b2bfaaa93a0088fe28ce2dc2c630c5a6cbdbf96
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72470fbf94b1c84b3a5f6dcede645005cce94091
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-5.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-6.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-6.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b063a091a4fc088570a99c6ab4085d841b14179
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-7.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-7.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-7.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a0f67c78f18fb88ed11429cb5d83d5d8de139ec
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.mtl
@@ -0,0 +1,24 @@
+newmtl material-0
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+Ns 30
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1954e65c56d5d9ca8bd0d6e5ffa44e969a196b0b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-8.obj
@@ -0,0 +1,83 @@
+mtllib new-8.mtl
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.mtl
@@ -0,0 +1,24 @@
+newmtl material-0
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e1d0d65fec410a4e5b089d8356d2d7751079ece
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/new-9.obj
@@ -0,0 +1,83 @@
+mtllib new-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f30432844dd69266d8b4e88c94690b4926b6517e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-10.obj
@@ -0,0 +1,255 @@
+# SSTK version 0.8.0
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+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0d532aef18f531ef433d440901cfa3ee730e59a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7020561d8ab7fc9144b0aac4da05be6b914fcd17
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..002fe95affd8ba2699bcd1912ccf58f787e8fad4
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-19.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-19.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8de82c9f3904ad7b80ac03b0405fbca9e241e08
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd0d49f8350bbc70742fe082a0ff95e5da8f0720
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-22.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-22.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..8f5f7dbf0a313e85ed8fdafba47417b5f477d859
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5e481d92c9550192daa796c42141fe72494aaf6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-26.obj
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index 0000000000000000000000000000000000000000..953e670bdd704f89621241009d696f6404324a94
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d02d042d20b21fbbc649ad6ccfb13b20ba0b6c8a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a55fcbaa916485c56f950681ce008ed026b59ce9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-3.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-31.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b45a8124ea1471961dca3b0964434bfb2c73cd
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-33.obj
@@ -0,0 +1,103 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b9173976f236ae16ff0acc1484048fdc1ba4775
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..820ca23e4b550832f0937f5253a35316ae0ab268
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6105141c4f673f66063d1a4132a9c557630825be
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a7de23fd66667d6b6c91f7908f09dbbbe3037e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-38.obj
@@ -0,0 +1,44 @@
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a87cdc020f7f30f85e7ee7a680d372bd743a3b27
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c60925a4a3051ae0ede28de451c16d3bdd7f70a4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-5.obj
@@ -0,0 +1,132 @@
+# SSTK version 0.8.0
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+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55493a895c268d19f0bfb934615897cb9d1b6ff4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+newmtl material_1_0
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+newmtl material_2_0
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66f97d9be53744744c0d2c47dbee3cc16d78a4d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-6.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
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+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54febeb1eaedd534c7770d21e31fa4c8d140f380
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-8.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5ad381537290bde15edf5309966d1d4a1bd1fe4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Chair/39988/tree_hier.html b/data/PartNet-Mobility/Chair/39988/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5b79f856be74400564009608c707a69c27db5c03
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/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></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>56 back_surface Back Surface</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>57 back_connector Back Connector</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 back_connector Back Connector</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 pillow Pillow</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>54 armrest_hard_surface Armrest Hard Surface</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>62 arm_connector Arm Connector</p><a href="parts_render/62.png"><img src="parts_render/62.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_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>61 arm_connector Arm 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>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>50 seat_support Seat Support</p><a href="parts_render/50.png"><img src="parts_render/50.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>60 back_soft_surface Back Soft Surface</p><a href="parts_render/60.png"><img src="parts_render/60.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>51 seat_soft_surface Seat Soft Surface</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><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></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/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 central_support Central Support</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 mechanical_control Mechanical Control</p><a href="parts_render/46.png"><img src="parts_render/46.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><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>20 leg Leg</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg Leg</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg Leg</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg Leg</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg Leg</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 caster Wheel Assembly</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 caster Wheel Assembly</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 caster Wheel Assembly</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 caster Wheel Assembly</p><a href="parts_render/28.png"><img src="parts_render/28.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><p>47 knob Knob</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><p>41 caster_stem Caster Stem</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><p>43 wheel Wheel</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></td><td></td><td></td><td></td><td></td><td><p>38 caster_stem Caster Stem</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel Wheel</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel Wheel</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>35 caster_stem Caster Stem</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</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></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>29 caster_stem Caster Stem</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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/39988/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/39988/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..33c6f5cacd95bc1ce57ace2976349bc1ebc93df9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/39988/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_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_connector back_connector</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 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_horizontal_bar arm_horizontal_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_connector arm_connector</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_horizontal_bar arm_horizontal_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_connector arm_connector</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><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></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 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 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>47 central_support central_support</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 central_support central_support</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 mechanical_control mechanical_control</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.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 caster caster</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></td><td></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 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 caster caster</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></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></td><td></td><td><p>39 caster caster</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></td><td></td><td></td><td></td><td><p>43 caster caster</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>50 knob knob</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.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>23 caster_stem caster_stem</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><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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_stem caster_stem</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><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 caster_stem caster_stem</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><p>38 wheel wheel</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_stem caster_stem</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><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><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></td><td><p>44 caster_stem caster_stem</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><p>45 wheel wheel</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 wheel wheel</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40067/bounding_box.json b/data/PartNet-Mobility/Chair/40067/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2255a3b3e9a4316de1c915f9730404fde63116f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.465625, -0.852973, -0.40599], "max": [0.461427, 0.885014, 0.569691]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40067/meta.json b/data/PartNet-Mobility/Chair/40067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf3bca47d82cc2095706d0ff0fc0171f1dfc8e6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/meta.json
@@ -0,0 +1 @@
+{"model_id": "7eaf212097293229fd3456bfc7553c94", "anno_id": "40067", "user_id": "shape08", "time_in_sec": "202", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40067/mobility.urdf b/data/PartNet-Mobility/Chair/40067/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d464b119a08fbaa2d9d2198dc646d8f3e17800b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/mobility.urdf
@@ -0,0 +1,572 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7eaf212097293229fd3456bfc7553c94">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-40">
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever-40">
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.019474731590488813 -0.3087243074279856 -0.1601520396411574"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_17"/>
+		<limit lower="0.0" upper="0.27017696820872217"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-41">
+			<origin xyz="0.004240464824702992 -0.03404987679122426 -0.19300801038325405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004240464824702992 -0.03404987679122426 -0.19300801038325405"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.007332933261400375 0.03404987679122426 0.032855970742096646"/>
+		<axis xyz="-5.7221703244016534e-05 0.9847923906468601 -0.17373527002229266"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke-37">
+			<origin xyz="0.4109760163604021 0 -0.029821438934100997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4109760163604021 0 -0.029821438934100997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.4109760163604021 0 0.029821438934100997"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-38">
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.4109760163604021 -0.8117528426753511 -0.034186643925889396"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-39">
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.4109760163604021 -0.8117528426753511 -0.034186643925889396"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_5">
+		<visual name="caster_yoke-34">
+			<origin xyz="-0.003734983786463737 0 0.2695848207415639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003734983786463737 0 0.2695848207415639"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.003734983786463737 0 -0.2695848207415639"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-35">
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.003734983786463737 -0.8098480609708484 -0.03074956471610657"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-36">
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.003734983786463737 -0.8098480609708484 -0.03074956471610657"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke-31">
+			<origin xyz="-0.4150677405015231 0 -0.02713694508942962"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4150677405015231 0 -0.02713694508942962"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.4150677405015231 0 0.02713694508942962"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-32">
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.4150677405015231 -0.8098479390291516 -0.03086855963175919"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-33">
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.4150677405015231 -0.8098479390291516 -0.03086855963175919"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_10"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke-28">
+			<origin xyz="-0.25393888603769244 0 -0.514514838298887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.25393888603769244 0 -0.514514838298887"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.25393888603769244 0 0.514514838298887"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel-29">
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.25393888603769244 -0.8098479390291516 -0.030871452841216507"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_12"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel-30">
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.25393888603769244 -0.8098479390291516 -0.030871452841216507"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_13"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-25">
+			<origin xyz="0.2480326107549667 0 -0.5106440351445807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2480326107549667 0 -0.5106440351445807"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.2480326107549667 0 0.5106440351445807"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel-26">
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.2480326107549667 -0.8117528426753511 -0.030790240136369107"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_15"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_16">
+		<visual name="wheel-27">
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.2480326107549667 -0.8117528426753511 -0.030790240136369107"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_16"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_17">
+		<visual name="back_soft_surface-54">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-47">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-51">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-52">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface-49">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame-50">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-43">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-42">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-42">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17"/>
+		<parent link="link_17_helper"/>
+	</joint>
+	<link name="link_18">
+		<visual name="central_support-44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_18"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_17_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.003092468436697383 0 0.1601520396411574"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17_helper"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.1200000000000001"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40067/mobility_v2.json b/data/PartNet-Mobility/Chair/40067/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1bef7ebb571bb8a48cf79ba2c72e11542268cc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40067/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4ccc588a0ee4575f7443d0aa7ba2a6273dfd6049
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/pts-10000.pts b/data/PartNet-Mobility/Chair/40067/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..2ad2845b47e7b6d7212055a0101dc8e261dbef84
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/40067/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd9d46da2ba6dfc544f1f7684d1d7ae19aca130
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2111c1b8784a89b25ad486248fea2a57b5a3f3d9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7fee2e81017b8f2f4c638cf52d1133603539a7aa
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32bdfbf184f3a62c38b765566145a673d3130fdc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40067/result.json b/data/PartNet-Mobility/Chair/40067/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..676c7ac5393b6363bea24deead177e5f9282ed42
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-41"], "id": 54, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-45"], "id": 51, "name": "armrest_soft_surface"}, {"text": "Arm Holistic Frame", "objs": ["original-44"], "id": 52, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-48"], "id": 49, "name": "armrest_soft_surface"}, {"text": "Arm Holistic Frame", "objs": ["original-47"], "id": 50, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-49"], "id": 47, "name": "seat_soft_surface"}], "id": 46, "name": "seat_surface"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-4", "original-3"], "id": 40, "name": "lever"}, {"text": "Knob", "objs": ["original-40"], "id": 41, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-51", "original-5"], "id": 42, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-12"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-13"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-14"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-15"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-16"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-8"], "id": 37, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-10"], "id": 38, "name": "wheel"}, {"text": "Wheel", "objs": ["original-11"], "id": 39, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-28"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-31"], "id": 35, "name": "wheel"}, {"text": "Wheel", "objs": ["original-30"], "id": 36, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-33"], "id": 31, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-36"], "id": 32, "name": "wheel"}, {"text": "Wheel", "objs": ["original-35"], "id": 33, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-25"], "id": 29, "name": "wheel"}, {"text": "Wheel", "objs": ["original-26"], "id": 30, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-18"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-20"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["original-21"], "id": 27, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-50"], "id": 43, "name": "central_support"}, {"text": "Central Support", "objs": ["original-37"], "id": 44, "name": "central_support"}, {"text": "Central Support", "objs": ["original-38"], "id": 45, "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/40067/result_after_merging.json b/data/PartNet-Mobility/Chair/40067/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec16d931ce76aba274c1feb2fe51e2d1e8f6550
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "id": 0, "children": [{"name": "chair_back", "id": 1, "children": [{"name": "back_surface", "id": 2, "children": [{"name": "back_single_surface", "id": 3, "objs": ["original-41"], "ori_id": 54, "text": "back_single_surface"}], "objs": ["original-41"], "text": "back_surface", "ori_id": 53}], "objs": ["original-41"], "text": "chair_back", "ori_id": 1}, {"name": "chair_arm", "id": 4, "children": [{"name": "arm_horizontal_bar", "id": 5, "objs": ["original-45"], "ori_id": 51, "text": "arm_horizontal_bar"}, {"name": "arm_holistic_frame", "id": 6, "objs": ["original-44"], "ori_id": 52, "text": "arm_holistic_frame"}], "objs": ["original-45", "original-44"], "text": "chair_arm", "ori_id": 2}, {"name": "chair_arm", "id": 7, "children": [{"name": "arm_horizontal_bar", "id": 8, "objs": ["original-48"], "ori_id": 49, "text": "arm_horizontal_bar"}, {"name": "arm_holistic_frame", "id": 9, "objs": ["original-47"], "ori_id": 50, "text": "arm_holistic_frame"}], "objs": ["original-48", "original-47"], "text": "chair_arm", "ori_id": 3}, {"name": "chair_seat", "id": 10, "children": [{"name": "seat_surface", "id": 11, "children": [{"name": "seat_single_surface", "id": 12, "objs": ["original-49"], "ori_id": 47, "text": "seat_single_surface"}], "objs": ["original-49"], "text": "seat_surface", "ori_id": 46}], "objs": ["original-49"], "text": "chair_seat", "ori_id": 4}, {"name": "chair_base", "id": 13, "children": [{"name": "star_leg_base", "id": 14, "children": [{"name": "mechanical_control", "id": 15, "children": [{"name": "lever", "id": 16, "objs": ["original-4", "original-3"], "ori_id": 40, "text": "lever"}, {"name": "knob", "id": 17, "objs": ["original-40"], "ori_id": 41, "text": "knob"}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5"], "text": "mechanical_control", "ori_id": 8}, {"name": "star_leg_set", "id": 18, "children": [{"name": "leg", "id": 19, "objs": ["original-12"], "ori_id": 10, "text": "leg"}, {"name": "leg", "id": 20, "objs": ["original-13"], "ori_id": 11, "text": "leg"}, {"name": "leg", "id": 21, "objs": ["original-14"], "ori_id": 12, "text": "leg"}, {"name": "leg", "id": 22, "objs": ["original-15"], "ori_id": 13, "text": "leg"}, {"name": "leg", "id": 23, "objs": ["original-16"], "ori_id": 14, "text": "leg"}, {"name": "caster", "id": 24, "children": [{"name": "wheel", "id": 25, "objs": ["original-10"], "ori_id": 38, "text": "wheel"}, {"name": "wheel", "id": 26, "objs": ["original-11"], "ori_id": 39, "text": "wheel"}], "objs": ["original-8", "original-10", "original-11"], "text": "caster", "ori_id": 15}, {"name": "caster", "id": 27, "children": [{"name": "wheel", "id": 28, "objs": ["original-31"], "ori_id": 35, "text": "wheel"}, {"name": "wheel", "id": 29, "objs": ["original-30"], "ori_id": 36, "text": "wheel"}], "objs": ["original-28", "original-31", "original-30"], "text": "caster", "ori_id": 16}, {"name": "caster", "id": 30, "children": [{"name": "wheel", "id": 31, "objs": ["original-36"], "ori_id": 32, "text": "wheel"}, {"name": "wheel", "id": 32, "objs": ["original-35"], "ori_id": 33, "text": "wheel"}], "objs": ["original-33", "original-36", "original-35"], "text": "caster", "ori_id": 17}, {"name": "caster", "id": 33, "children": [{"name": "wheel", "id": 34, "objs": ["original-25"], "ori_id": 29, "text": "wheel"}, {"name": "wheel", "id": 35, "objs": ["original-26"], "ori_id": 30, "text": "wheel"}], "objs": ["original-23", "original-25", "original-26"], "text": "caster", "ori_id": 18}, {"name": "caster", "id": 36, "children": [{"name": "wheel", "id": 37, "objs": ["original-20"], "ori_id": 26, "text": "wheel"}, {"name": "wheel", "id": 38, "objs": ["original-21"], "ori_id": 27, "text": "wheel"}], "objs": ["original-18", "original-20", "original-21"], "text": "caster", "ori_id": 19}], "objs": ["original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21"], "text": "star_leg_set", "ori_id": 9}, {"name": "central_support", "id": 39, "objs": ["original-50"], "ori_id": 43, "text": "central_support"}, {"name": "central_support", "id": 40, "objs": ["original-37"], "ori_id": 44, "text": "central_support"}, {"name": "central_support", "id": 41, "objs": ["original-38"], "ori_id": 45, "text": "central_support"}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "star_leg_base", "ori_id": 6}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "chair_base", "ori_id": 5}], "objs": ["original-41", "original-45", "original-44", "original-48", "original-47", "original-49", "original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "chair", "ori_id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40067/semantics.txt b/data/PartNet-Mobility/Chair/40067/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c06b0c22c4b676a30ab7322c60cee4ac52db369
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/semantics.txt
@@ -0,0 +1,19 @@
+link_0 hinge lever
+link_1 hinge knob
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge caster
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge caster
+link_12 hinge wheel
+link_13 hinge wheel
+link_14 hinge caster
+link_15 hinge wheel
+link_16 hinge wheel
+link_17 slider+ seat
+link_18 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9c4528c5228c87a24786374f60da6c9eb84415a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-10.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2deaba81aef6cbab9ac3f5e81803a60439bc4a0b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-11.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..978fb7b0b3c7a3d88d481fcc83e084cac7ab2019
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-12.obj
@@ -0,0 +1,12278 @@
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+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12bd85f36a4f5478ff280885e8da09ea19997175
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-13.obj
@@ -0,0 +1,12278 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33e835aa61bfd7663aa1a9f4ebb502a88331ce69
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-14.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8fcfefc3f371920df693d6ce0043cb2b09c6cac
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-15.obj
@@ -0,0 +1,12278 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9d6eea93d6bb4f581c4a715b201edf2f467a283
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-16.obj
@@ -0,0 +1,12278 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a84adf4635114e1261fdcb686a81e887962b1052
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-18.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14d6e1d685ecde85ca7f33cc2f29129f628b3f52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-20.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ec38f75cdd615a5ed682daff36aa8ff94a4133c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-21.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..5aac703f4d253d51d0f513e1de260ad91875ccd0
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e307e7d1f3adea4f357944341da4c4df7160d968
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-25.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b08d493795dba127a70e5fe85670e1772d5239c4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-26.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4719fbdaa266f00357f1263858efa2446cd47953
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-28.obj
@@ -0,0 +1,1924 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12eb21b9ece19a4ae00d82d0016606d3ed072806
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_2
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+d 1
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+
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4ae78192a8c52059f7fabfda2f88c0021f613a1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c89c1e0a714ed4d28caf1b763d4a2294b4b85037
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-30.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 30
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbcd5912b06bd79d937f8bfdc9c9921c1e0a8b86
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-31.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..291ec77f6a293602b68728573772728f0a9b794e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-33.obj
@@ -0,0 +1,1924 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69b44484ff44c41b3558a28ae789adea1179766
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5421426872d3c71e03aeb50178d4e6fff0e14c25
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-36.obj
@@ -0,0 +1,3667 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-37.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-37.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3530c8ac0a1e0b5ab8d92495a6d937c50615992c
--- /dev/null
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index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-38.obj
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index 0000000000000000000000000000000000000000..ca50989f45cd43dba8801aa6271c8442b50c950f
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f87013f1313e8b57085edcba58642bd1744da5f9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d3e3121fb16254e5689302b3ff0f98061c64744
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb99d6ff0ec37606420966ab90a422ab56dc5c2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36279db760cef0a699d92d6e8a1e1caed97b84ba
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f436beeed7092e2891706b18ed595b89bb4f469
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_2
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6731d074469d72762ea073579cd31db7eb49469f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d388af84afe287592789c8957f7a9c9933a90f7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144b542ded6a09bccdf1d07eaa5f87d784252c35
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-45.obj
@@ -0,0 +1,4427 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f436beeed7092e2891706b18ed595b89bb4f469
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49de4e91ea0fa6a26b359d3e95076a9375b3c9f6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d388af84afe287592789c8957f7a9c9933a90f7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..471061a3834f6f746a400903178acfee805e9fcf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-48.obj
@@ -0,0 +1,4427 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb99d6ff0ec37606420966ab90a422ab56dc5c2b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb9ad4557e5c4580914ca2d070be191d42a9c2f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94ce590584f40edbdb87d6dbebc37152e393567f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a410b4d67cd3422dc93ddc0bd84b0451c3ecda78
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1192283f70ef275433b84188bcec3113d92652ce
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d676893d2f792f76a59912db4a4c7dd6e91fa138
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/textured_objs/original-8.obj
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+f 42/633/76 45/630/84 39/631/222
+f 39/634/221 42/635/73 40/636/75
+f 40/636/78 42/635/76 39/634/222
diff --git a/data/PartNet-Mobility/Chair/40067/tree_hier.html b/data/PartNet-Mobility/Chair/40067/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1bf974baa8c4ab7b6a7608a3485fab295c37ed8b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/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><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><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><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><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>53 back_surface Back Surface</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><p>51 armrest_soft_surface Armrest Soft Surface</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_holistic_frame Arm Holistic Frame</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 seat_surface Seat 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></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>54 back_soft_surface Back Soft Surface</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>47 seat_soft_surface Seat Soft Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></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><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><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 central_support Central Support</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 central_support Central Support</p><a href="parts_render/45.png"><img src="parts_render/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><p>40 lever Lever</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 knob Knob</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 mounting_plate Mounting Plane</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>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>37 caster_yoke Caster Yoke</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><p>39 wheel Wheel</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</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>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 wheel Wheel</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></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><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>25 caster_yoke Caster Yoke</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><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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40067/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40067/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..87e4a28ebb46463e96375cd3792848d4fb647ac9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40067/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><p>4 chair_arm chair_arm</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></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></td><td></td><td><p>10 chair_seat chair_seat</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><p>13 chair_base chair_base</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.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></td><td><p>5 arm_horizontal_bar arm_horizontal_bar</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 arm_holistic_frame arm_holistic_frame</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_horizontal_bar arm_horizontal_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_holistic_frame arm_holistic_frame</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 seat_surface seat_surface</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><p>14 star_leg_base star_leg_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.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><p>12 seat_single_surface seat_single_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></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></td><td></td><td><p>18 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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 central_support central_support</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 central_support central_support</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><p>41 central_support central_support</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><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><p>17 knob knob</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 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 leg leg</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><p>24 caster caster</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></td><td></td><td></td><td><p>27 caster caster</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></td><td></td><td></td><td><p>30 caster caster</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></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><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></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>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><p>26 wheel wheel</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><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><p>29 wheel wheel</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><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 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><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><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/bounding_box.json b/data/PartNet-Mobility/Chair/40069/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c38f9327627eb2de4c51d0d6c8a493c66c04d90
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.524509, -0.821324, -0.462748], "max": [0.578251, 0.706079, 0.642826]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/images/texture_0.jpg b/data/PartNet-Mobility/Chair/40069/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3bcb1c3677cbe55c6016ec51705add3b46cda59b
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29cea7dbe6b84a7f1c8d9f680e93aafe8cd3adf211558cd83670ef5d7d183af1
+size 115494
diff --git a/data/PartNet-Mobility/Chair/40069/meta.json b/data/PartNet-Mobility/Chair/40069/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5385eb291939cf5d3e87bd5ef550c00e03239643
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/meta.json
@@ -0,0 +1 @@
+{"model_id": "7eb7574764b397c3e87e9b3f41906a3d", "anno_id": "40069", "user_id": "w15631998789", "time_in_sec": "826", "version": "9", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/mobility.urdf b/data/PartNet-Mobility/Chair/40069/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa499ce47aa207998b02279a3460de4fc1bc2538
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/mobility.urdf
@@ -0,0 +1,635 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7eb7574764b397c3e87e9b3f41906a3d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke-34">
+			<origin xyz="0.3650545 0 0.3504625"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3650545 0 0.3504625"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.3650545 0 -0.3504625"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel-35">
+			<origin xyz="0.22891202785928585 0.776031812175083 0.40636581650710635"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+		<parent link="link_6"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.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>
+	<link name="link_10_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="-0.0027324999999999997 0 0.08132962234844913"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10_helper"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.07600000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40069/mobility_v2.json b/data/PartNet-Mobility/Chair/40069/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3344e855b3d2cb8d55b384734a7c6d9f93485ea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":34,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.3650545,0,-0.3504625],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.22891202785928585,-0.776031812175083,-0.40636581650710635],"direction":[0.8141654765943263,0,-0.5719559084005142]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.230718,0,-0.42814549999999996],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.205447430038544,-0.7759030143873322,-0.40513519551933946],"direction":[-0.80563871526212,0,-0.4650273135525574]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":30,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.5530345,0,0.136776],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5272980286687028,-0.7762537194383103,0.09673327193039934],"direction":[0.1968157944773454,null,-0.956361318780039]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.093673,0,0.6212325000000001],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.0021647097017244293,-0.7746797783821,0.5959300389431063],"direction":[1.2,null,-0.07238665634015395]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.517370638446166,-0.7753969934536448,0.18606456461615717],"direction":[-0.36306412108601,0,-0.9214181924811561]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":27,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4954235,0,0.32948049999999995],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":11,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":45,"name":"arm_holistic_frame","children":[]},{"id":44,"name":"arm_holistic_frame","children":[]},{"id":47,"name":"back_support","children":[]},{"id":58,"name":"back_frame_vertical_bar","children":[]},{"id":59,"name":"back_frame_vertical_bar","children":[]},{"id":56,"name":"back_hard_surface","children":[]},{"id":57,"name":"seat_hard_surface","children":[]},{"id":61,"name":"seat_frame_vertical_bar","children":[]},{"id":62,"name":"seat_frame_vertical_bar","children":[]},{"id":39,"name":"central_support","children":[]},{"id":50,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[-0.0027324999999999997,0,0.08132962234844913],"direction":[0,-1,0]},"limit":{"a":0,"b":0.07600000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":11,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":40,"name":"central_support","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Chair/40069/parts_render_after_merging/9.txt b/data/PartNet-Mobility/Chair/40069/parts_render_after_merging/9.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89a39d560cd6b6963514e37f52515eba40cd266a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/parts_render_after_merging/9.txt
@@ -0,0 +1 @@
+9 arm_holistic_frame arm_holistic_frame
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/label-10000.txt b/data/PartNet-Mobility/Chair/40069/point_sample/label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb692dd5cd9062cb91d5ec7768ce817da7105fb
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/point_sample/label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/ply-10000.ply b/data/PartNet-Mobility/Chair/40069/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..83107e814901c0d4dd39a9890431db93f32f67d8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/pts-10000.txt b/data/PartNet-Mobility/Chair/40069/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..793415a4ac7f879051675fa1ede05e28e46b1d23
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58902562e356361467c729207cdef328ad6e6130
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a38dd39f4de5552539419519d92eb9315c0229f
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e369d6d2a4e662fb7d1344dc648a60aa43af3037
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Chair/40069/result.json b/data/PartNet-Mobility/Chair/40069/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e464676dc086e387069d86c2af9b4cc478298dcc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Support", "objs": ["original-44"], "id": 47, "name": "back_support"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-5"], "id": 58, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-3"], "id": 59, "name": "back_frame_vertical_bar"}], "id": 48, "name": "back_frame"}, {"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-1"], "id": 56, "name": "back_hard_surface"}], "id": 55, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-54"], "id": 45, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-49"], "id": 44, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56"], "id": 57, "name": "seat_hard_surface"}], "id": 41, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Vertical Bar", "objs": ["new-2"], "id": 61, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-4"], "id": 62, "name": "seat_frame_vertical_bar"}], "id": 60, "name": "seat_frame"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-38", "original-39"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-14", "original-15"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-20", "original-21"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-32", "original-33"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-26", "original-27"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-30"], "id": 35, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-41"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-42"], "id": 33, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-18"], "id": 31, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-24"], "id": 29, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-36"], "id": 26, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["original-35"], "id": 27, "name": "caster_yoke"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-2"], "id": 39, "name": "central_support"}, {"text": "Central Support", "objs": ["original-3"], "id": 40, "name": "central_support"}, {"text": "Seat Connector", "objs": ["original-8", "original-9", "original-6", "original-10", "original-11", "original-7"], "id": 50, "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/40069/result_after_merging.json b/data/PartNet-Mobility/Chair/40069/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c0f93390bb7cf79ceedcfc33980d93cdb9b2899
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-44", "new-5", "new-3", "new-1", "original-54", "original-49", "original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56", "new-2", "new-4", "original-38", "original-39", "original-14", "original-15", "original-20", "original-21", "original-32", "original-33", "original-26", "original-27", "original-29", "original-30", "original-41", "original-42", "original-17", "original-18", "original-23", "original-24", "original-36", "original-35", "original-2", "original-3", "original-8", "original-9", "original-6", "original-10", "original-11", "original-7"], "ori_id": 0, "children": [{"objs": ["original-44", "new-5", "new-3", "new-1"], "ori_id": 1, "children": [{"objs": ["original-44"], "name": "back_support", "text": "back_support", "ori_id": 47, "id": 2}, {"objs": ["new-5", "new-3"], "ori_id": 48, "children": [{"objs": ["new-5"], "name": "back_frame_vertical_bar", "text": "back_frame_vertical_bar", "ori_id": 58, "id": 4}, {"objs": ["new-3"], "name": "back_frame_vertical_bar", "text": "back_frame_vertical_bar", "ori_id": 59, "id": 5}], "name": "back_frame", "text": "back_frame", "id": 3}, {"objs": ["new-1"], "ori_id": 55, "children": [{"objs": ["new-1"], "name": "back_single_surface", "text": "back_single_surface", "ori_id": 56, "id": 7}], "name": "back_surface", "text": "back_surface", "id": 6}], "name": "chair_back", "text": "chair_back", "id": 1}, {"objs": ["original-54"], "ori_id": 2, "children": [{"objs": ["original-54"], "name": "arm_holistic_frame", "text": "arm_holistic_frame", "ori_id": 45, "id": 9}], "name": "chair_arm", "text": "chair_arm", "id": 8}, {"objs": ["original-49"], "ori_id": 3, "children": [{"objs": ["original-49"], "name": "arm_holistic_frame", "text": "arm_holistic_frame", "ori_id": 44, "id": 11}], "name": "chair_arm", "text": "chair_arm", "id": 10}, {"objs": ["original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56", 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"id": 0}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/semantics.txt b/data/PartNet-Mobility/Chair/40069/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4157b0401abb3b2a381bbe1b08ac29e56d6718d3
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/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 wheel
+link_9 hinge caster
+link_10 slider+ seat
+link_11 free chair_leg
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-0.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..933a1aa63d4e8c4799532b598fefc8405a4b7af2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/new-0.mtl
@@ -0,0 +1,9 @@
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+map_Kd ../images/texture_0.jpg
+
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-0.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/new-0.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-2.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/new-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-2.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d659768a4e4de1307ce1ec6558cfe3f6825bed0
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-3.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/new-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
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@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-3.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a99f43f14955eb2888cc862ebd639b6ea508500
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ac5c5d33b687d3a3dc619889ffa72c66aca3d8
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/new-4.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-5.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/new-5.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/new-5.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/new-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b11597c2da19f81e4d72289f33100676d3022988
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94878f714c2e6530e104cae5fe4bc513f32d2bf1
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e012f45357f80ece53168aefcfb20c758dac8be9
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-10.obj
@@ -0,0 +1,242 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-11.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94878f714c2e6530e104cae5fe4bc513f32d2bf1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-11.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cacdd80a5a3c8ca44ca3f141b4cc3d12d55baee5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-14.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-14.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc9159d9a3f38cbd156a201d1b1830789bcd60ee
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a39bbd65765111ff9e07f6cf388bb533ae2b7825
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-15.obj
@@ -0,0 +1,3430 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-17.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-17.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+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/40069/textured_objs/original-17.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350caaf16005483bd0ccc9d98cba8a709cf75548
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-17.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..989ae8ed72ee493d03219bd0aed421019fe8b113
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-18.obj
@@ -0,0 +1,2112 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-2.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-2.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66689e2ea61bae032956849944cf725d3ca3809a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
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+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..5743eeb7d291b929f5549042a63a009682fc4ea4
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-20.obj
@@ -0,0 +1,933 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc76df43ef377d9b9c462fcf4bbfd047702bac58
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a70b39d024b9170f1aab53434da3bfb312629e42
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-23.obj
@@ -0,0 +1,5729 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ff0251476ac38a6657c5e46bd218f4ffcb13ca2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-24.obj
@@ -0,0 +1,2112 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8bfd4bba7937d4dd21a45b55e4aaa0853090c5d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81694917c5f62e5566e5a6607313763d940ac4e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93818691ff9f566346c1805bfe37b777259ad9ad
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-3.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-3.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff67125f30309491b1b01c673330efa32ed22097
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a344dff6dd78df485fe7e15f4973a8ce021c9a37
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-30.obj
@@ -0,0 +1,2112 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2854702d4600edbbad52a35d7d945a04233a1d38
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24e1498e18d405f10c9c3bf95e1d670754838176
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-35.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-35.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+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/40069/textured_objs/original-35.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2e541901a6f756d925b6f0383b8063866d2e6e5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-35.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o Circle06_1/Circle06/mesh13/mesh13-geometry#mesh13-geometry
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01a5ff7910f9696b57807f270df8b1bc49c29c2c
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-36.obj
@@ -0,0 +1,2112 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f457db0903d06a3ccd5247ece7f23ef1e001d7df
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a73701da900b64e197d2dc8e70da8ffd43876
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-39.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-4.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/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/40069/textured_objs/original-4.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab30cbde7112b0f667dd99b8e67d4f8c93994c7
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-4.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v -0.009882 -0.240037 0.054646
+v 0.004417 -0.240037 0.054646
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-41.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-41.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+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/40069/textured_objs/original-41.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7983535227fab5382e12a8218b18165c68797642
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-41.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o Circle06_1/Circle06/mesh13/mesh13-geometry#mesh13-geometry
+v 0.204512 -0.759281 -0.460592
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f0dcf55cd172da5c7a2e1b9721a0063a09f110
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-42.obj
@@ -0,0 +1,2112 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8da07e57ce52feda3e4533423af337f19d75e8dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-44.obj
@@ -0,0 +1,846 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e30da8e8b202422a36bacd9b7d11ba4d5e1b1e44
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-48.obj
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+# SSTK version 0.8.0
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+mtllib original-48.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce53e1b8ef5ac4aebe293bc4f929907261d53ab2
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-50.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-50.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/40069/textured_objs/original-50.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7add5024c9f33ead2761a0973793daffa7f7ab56
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-50.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4b8ddc6079832c7c66c5caab833f14443a8906
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-51.obj
@@ -0,0 +1,119 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a231640ae0a839cd0283c4fa28ab08de0240f30
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-53.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8516dfd611337aed63b6c330a132e8dd862e43b6
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-54.obj
@@ -0,0 +1,25642 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8925635af3c6addf23d8d7572b65ae1ec8a342dc
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-55.obj
@@ -0,0 +1,47 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2a6bd28394caedbe4957ffddb58ecf7811a3051
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87efbe81a2014f08ebdd4901d735a4b4aab3f1b5
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-6.obj
@@ -0,0 +1,290 @@
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-7.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-7.mtl
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index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-7.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-8.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-8.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-8.obj
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index 0000000000000000000000000000000000000000..54a61a482e6f101e3e7b1d9d6d2e76a325b53692
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-9.mtl b/data/PartNet-Mobility/Chair/40069/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Chair/40069/textured_objs/original-9.obj b/data/PartNet-Mobility/Chair/40069/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23b8946faf447783f880e97b8853cf8fdef552fd
--- /dev/null
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diff --git a/data/PartNet-Mobility/Chair/40069/tree_hier.html b/data/PartNet-Mobility/Chair/40069/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc736ec13b3da04ec68499c728c11df128dd54af
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/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></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></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>47 back_support Back 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 back_frame Back Frame</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>55 back_surface Back Surface</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>45 arm_holistic_frame Arm 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><p>44 arm_holistic_frame Arm Holistic 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><p>41 seat_surface Seat Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>60 seat_frame Seat 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></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><p>58 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>56 back_hard_surface Back Hard Surface</p><a href="parts_render/56.png"><img src="parts_render/56.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>57 seat_hard_surface Seat Hard Surface</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>61 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 seat_frame_vertical_bar Seat Frame Vertical 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><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><p>39 central_support Central Support</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></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>50 seat_connector Seat Connector</p><a href="parts_render/50.png"><img src="parts_render/50.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><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><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><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><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</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>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></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 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40069/tree_hier_after_merging.html b/data/PartNet-Mobility/Chair/40069/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..43e9c3c83586544d2828947f40c2f0b600d65a25
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40069/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><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><p>12 chair_seat chair_seat</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></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_frame back_frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 back_surface back_surface</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><p>9 arm_holistic_frame arm_holistic_frame</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_holistic_frame arm_holistic_frame</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><p>13 seat_surface seat_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><p>15 seat_frame seat_frame</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></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><p>4 back_frame_vertical_bar back_frame_vertical_bar</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_vertical_bar back_frame_vertical_bar</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_single_surface back_single_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></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 seat_single_surface seat_single_surface</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 seat_frame_bar seat_frame_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 seat_frame_bar seat_frame_bar</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></td><td><p>20 star_leg_set star_leg_set</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></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></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>36 central_support central_support</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 central_support central_support</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.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><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 leg leg</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><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 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><p>28 caster caster</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 caster caster</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></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></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><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></td><td><p>29 wheel wheel</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><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></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></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/bounding_box.json b/data/PartNet-Mobility/Chair/40168/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa41ceba7331927ae8310343fa95257656bd63d
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.595389, -0.779101, -0.558142], "max": [0.593062, 0.810673, 0.585177]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/images/texture_0.jpg b/data/PartNet-Mobility/Chair/40168/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1cbfc9262d3efb3a0872c51abe01215d9465ef9a
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b3db0e4f727a35d2ce7b1966372419fb15d79377adda6f562aa95a897a72c6a
+size 1837
diff --git a/data/PartNet-Mobility/Chair/40168/meta.json b/data/PartNet-Mobility/Chair/40168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3b583cde93aa2c7c607163b84279324b40b054
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/meta.json
@@ -0,0 +1 @@
+{"model_id": "811c349efc40c6feaf288f952624966", "anno_id": "40168", "user_id": "shape05", "time_in_sec": "385", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Chair/40168/mobility.urdf b/data/PartNet-Mobility/Chair/40168/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb127a3b224350571eab51979b07b3bfa7553cdf
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/mobility.urdf
@@ -0,0 +1,741 @@
+<?xml version="1.0" ?>
+<robot name="partnet_811c349efc40c6feaf288f952624966">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever-43">
+			<origin xyz="0.08663812725804754 0.1477292507709976 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08663812725804754 0.1477292507709976 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.09161512725804753 -0.1477292507709976 -0.056823"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+		<limit lower="0.0" upper="0.20106192982974674"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever-44">
+			<origin xyz="-0.08782858145423231 0.1379207742877884 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08782858145423231 0.1379207742877884 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.08285158145423231 -0.1379207742877884 -0.056823"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+		<limit lower="-0.0" upper="0.20106192982974674"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel-41">
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.03424050135652712 -0.7313998264037611 -0.04638946615722139"/>
+		<axis xyz="-0.2760123304846159 -0.0002945439074830451 0.9611540493928836"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel-42">
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.03424050135652712 -0.7313998264037611 -0.04638946615722139"/>
+		<axis xyz="-0.2760123304846159 -0.0002945439074830451 0.9611540493928836"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel-37">
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0006666514038856861 -0.7313732533845521 0.020076167880698215"/>
+		<axis xyz="-0.9993214504172013 -0.0020875243364418252 0.036773373223108224"/>
+		<child link="link_4"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel-38">
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.0006666514038856861 -0.7313732533845521 0.020076167880698215"/>
+		<axis xyz="-0.9993214504172013 -0.0020875243364418252 0.036773373223108224"/>
+		<child link="link_5"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel-33">
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.037509291601474315 -0.7314251792291601 -0.04422003904003455"/>
+		<axis xyz="0.342426876959796 -4.809964583497058e-05 0.9395444809172074"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel-34">
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.037509291601474315 -0.7314251792291601 -0.04422003904003455"/>
+		<axis xyz="0.342426876959796 -4.809964583497058e-05 0.9395444809172074"/>
+		<child link="link_7"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel-29">
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.012085030010775044 -0.7314265 -0.03495326308582347"/>
+		<axis xyz="0.7877619511607603 0 -0.6159797953694522"/>
+		<child link="link_8"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel-30">
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.012085030010775044 -0.7314265 -0.03495326308582347"/>
+		<axis xyz="0.7877619511607603 0 -0.6159797953694522"/>
+		<child link="link_9"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel-25">
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.017397499313034304 -0.7314721903000174 -0.03590658568194949"/>
+		<axis xyz="0.8297053052480169 0.0007440671274425703 0.5582011759280028"/>
+		<child link="link_10"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel-26">
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.017397499313034304 -0.7314721903000174 -0.03590658568194949"/>
+		<axis xyz="0.8297053052480169 0.0007440671274425703 0.5582011759280028"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="back_support-58">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-60">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector-60">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface-62">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-55">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-55">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-56">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-57">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-52">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface-52">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar-53">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar-54">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface-50">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support-51">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-47">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate-63">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_12_helper"/>
+	</joint>
+	<link name="link_13">
+		<visual name="central_support-46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support-48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_13"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke-39">
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-40">
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.5592185515219829 0 -0.10459136444123754"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke-35">
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-36">
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.01654577457789901 0 -0.5293442426175963"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke-31">
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-32">
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.5551610385271041 0 -0.14448102517566552"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_17">
+		<visual name="caster_yoke-27">
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-28">
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="0.3657513070226622 0 0.5181592288031465"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_17"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_18">
+		<visual name="caster_yoke-23">
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem-24">
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="continuous">
+		<origin xyz="-0.32297750112800366 0 0.5428120340871153"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_18"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_12_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.0049770000000000005 0 0.056823"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12_helper"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Chair/40168/mobility_v2.json b/data/PartNet-Mobility/Chair/40168/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bb2c83fbee2b3a08222fd00e8d563c78812262
--- /dev/null
+++ b/data/PartNet-Mobility/Chair/40168/mobility_v2.json
@@ -0,0 +1 @@
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