diff --git a/assets/urdf/FoldingChair/100520/bounding_box.json b/assets/urdf/FoldingChair/100520/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8fc336307f95804f89565377e0e2cc746737fd9
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.415614, -0.721947, -0.515286], "max": [0.421715, 0.679017, 0.594367]}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/grasp_poses.json b/assets/urdf/FoldingChair/100520/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..72aafd974f8fe70d5bdf407f2ed996f9741e7989
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/grasp_poses.json
@@ -0,0 +1,134 @@
+{
+ "object_name": "100520",
+ "scale": 1.0,
+ "grasp_parts": {
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/meta.json b/assets/urdf/FoldingChair/100520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e69c64da1b84a3a6dd758b99002e3de93e69b5e
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "1da9942b2ab7082b2ba1fdc12ecb5c9e", "version": "1", "anno_id": "520", "time_in_sec": "48"}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/mobility.urdf b/assets/urdf/FoldingChair/100520/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ce99857e5156226b857e04648c6458952fe2b5b
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/mobility.urdf
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diff --git a/assets/urdf/FoldingChair/100520/mobility_v2.json b/assets/urdf/FoldingChair/100520/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a2cbcbafd5af58fb11b471ec9753a1628434c3
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.05673187627388845, 0.10696075021242733], "direction": [1, 0, 0]}, "limit": {"a": -360, "b": -486.72, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/model_data.json b/assets/urdf/FoldingChair/100520/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1c2f6647c50f91bc1e372dfa1a302f763a713c
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/model_data.json
@@ -0,0 +1,160 @@
+{
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+ "transform_matrix": [
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+}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/result.json b/assets/urdf/FoldingChair/100520/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ddc9ccfc306ed96a594dc5b2c4e15e557fecd4
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-37", "original-36", "original-38"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-29", "original-21", "original-28", "original-22", "original-26", "original-4", "original-3", "original-33", "original-2", "original-16", "original-8", "original-13", "original-39", "original-27", "original-6", "original-31", "original-15", "original-23", "original-11", "original-34", "original-18", "original-17", "original-12", "original-24", "original-20", "original-32", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/result_original.json b/assets/urdf/FoldingChair/100520/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e3762cb7129658096ea116421bdd74f47af0295
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-37", "original-36", "original-38"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100520/semantics.txt b/assets/urdf/FoldingChair/100520/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-10.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91b5e5dd1ffd81d6094e2dcb4e73eed727a20674
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/textured_objs/original-10.obj
@@ -0,0 +1,272 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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index 0000000000000000000000000000000000000000..5c4d54006a2ee551e04d21fa4ad51d9af364af05
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-13.mtl b/assets/urdf/FoldingChair/100520/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ececd2a0e6c9490c8e3d0386a5fe9085c3f9a2d
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/textured_objs/original-13.mtl
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-13.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..8c2210657501e61cafe76875382d004ff698b43a
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-15.mtl b/assets/urdf/FoldingChair/100520/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6208ea2088993d15f96f0bc2c58348829bc190f
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-15.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..30956874afaf8e4f4654fb412fef4431f7611204
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-20.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed76a6e9812ac8dfe6309e13d2c6aa0a094e0803
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/textured_objs/original-20.obj
@@ -0,0 +1,5237 @@
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-24.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..c36ac989a8c8f6165d48fbf5897ee455c895dfbf
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diff --git a/assets/urdf/FoldingChair/100520/textured_objs/original-36.obj b/assets/urdf/FoldingChair/100520/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef4627aad1765c9ab82656249188bc388875337b
--- /dev/null
+++ b/assets/urdf/FoldingChair/100520/textured_objs/original-36.obj
@@ -0,0 +1,1712 @@
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diff --git a/assets/urdf/FoldingChair/100532/bounding_box.json b/assets/urdf/FoldingChair/100532/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f4b3204bd29721c83bad7b654911e8a4508cf7
--- /dev/null
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100532/grasp_poses.json b/assets/urdf/FoldingChair/100532/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..806a82c9106dd42c2614cd78400fcb31e737dec1
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/grasp_poses.json
@@ -0,0 +1,134 @@
+{
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diff --git a/assets/urdf/FoldingChair/100532/meta.json b/assets/urdf/FoldingChair/100532/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd1cd4b60e4401fa0f5e56e5d8f5f88117a038a8
--- /dev/null
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100532/mobility.urdf b/assets/urdf/FoldingChair/100532/mobility.urdf
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100532/mobility_v2.json b/assets/urdf/FoldingChair/100532/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2000765e27962ecc61b3cb8d02a9c5b515e2b681
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100532/model_data.json b/assets/urdf/FoldingChair/100532/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f46e64f5accda5dcccb61813241dbe461abfc72
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+++ b/assets/urdf/FoldingChair/100532/model_data.json
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diff --git a/assets/urdf/FoldingChair/100532/result.json b/assets/urdf/FoldingChair/100532/result.json
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index 0000000000000000000000000000000000000000..e4388627b88759542e0b13dd62bcdf0d9c707073
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diff --git a/assets/urdf/FoldingChair/100532/result_original.json b/assets/urdf/FoldingChair/100532/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100532/semantics.txt b/assets/urdf/FoldingChair/100532/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-1.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89840604ee2595232105ded22c435bcce0867ef
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new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-2.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e038b568e62b6a020ebb9c543639c4dbde8774f1
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-3.mtl
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-3.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02fa8b508910755234148cec351070173ef4782a
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-3.obj
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-4.mtl b/assets/urdf/FoldingChair/100532/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-4.mtl
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-4.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d4a0c1fa44abaec11b145ae7968ff6205f109d7
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-4.obj
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-5.mtl b/assets/urdf/FoldingChair/100532/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57144c41f09a74a0a80b06cb20fa6906c352aaa4
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-5.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddb0fd4e1fb36034e41378aa10f1c80cee47054d
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-6.mtl b/assets/urdf/FoldingChair/100532/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-6.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eaab1381132679bb3adce784a9f520dc7aa1fd6
--- /dev/null
+++ b/assets/urdf/FoldingChair/100532/textured_objs/original-6.obj
@@ -0,0 +1,311 @@
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-7.mtl b/assets/urdf/FoldingChair/100532/textured_objs/original-7.mtl
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index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
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diff --git a/assets/urdf/FoldingChair/100532/textured_objs/original-7.obj b/assets/urdf/FoldingChair/100532/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..3172995c15e0463e6bf550eab9844a9777b96ea6
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diff --git a/assets/urdf/FoldingChair/100557/bounding_box.json b/assets/urdf/FoldingChair/100557/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..666bcf3ef0040639ac5270b648a2a9b7a2a39157
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.436688, -0.767199, -0.429892], "max": [0.466919, 0.64551, 0.605202]}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/grasp_poses.json b/assets/urdf/FoldingChair/100557/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..d940bf217cc691c9b922129dd30887d326968746
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/grasp_poses.json
@@ -0,0 +1,134 @@
+{
+ "object_name": "100557",
+ "scale": 1.0,
+ "grasp_parts": {
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/meta.json b/assets/urdf/FoldingChair/100557/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c4b4bc2ac3fe5f2340c710d192acf05806eefd
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/meta.json
@@ -0,0 +1 @@
+{"user_id": "yuzhe", "model_cat": "FoldingChair", "model_id": "77343b3052c4c5d0492d9da2668ec34c", "version": "2", "anno_id": "557", "time_in_sec": "39"}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/mobility.urdf b/assets/urdf/FoldingChair/100557/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9622201fbe0d9fca15b798fed1406b5f53a450f9
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/mobility.urdf
@@ -0,0 +1,65 @@
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diff --git a/assets/urdf/FoldingChair/100557/mobility_v2.json b/assets/urdf/FoldingChair/100557/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..00242e0559d32c7402f3069efb38cfd6cc8be439
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, 0.0191501722664436, 0.02939885926269495], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -62.28000000000003, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "backlegs", "parts": [{"id": 2, "name": "backlegs", "children": []}], "jointData": {}}, {"id": 2, "parent": 1, "joint": "hinge", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {"axis": {"origin": [0, 0.0191501722664436, 0.02939885926269495], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 64.08, "noLimit": false}}}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/model_data.json b/assets/urdf/FoldingChair/100557/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7046ce4f624bbc0234b0299d1b0dd009e78836fd
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/model_data.json
@@ -0,0 +1,160 @@
+{
+ "scale": 1.0,
+ "transform_matrix": [
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+ "init_qpos": [],
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/result.json b/assets/urdf/FoldingChair/100557/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b01d79ccdfc9f675b3930bc7a682d4776a50b41
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-3"]}, {"text": "backlegs", "name": "backlegs", "id": 2, "objs": ["original-2"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/result_original.json b/assets/urdf/FoldingChair/100557/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2402cab70e19230b02141153453a595245020a26
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-3"]}, {"id": 2, "name": "backlegs", "text": "backlegs", "objs": ["original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100557/semantics.txt b/assets/urdf/FoldingChair/100557/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0947d493b5e619137ae285ab5681daf9b7d189b3
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge seat
+link_1 free leg
+link_2 hinge leg
diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-1.mtl b/assets/urdf/FoldingChair/100557/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-1.obj b/assets/urdf/FoldingChair/100557/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dc817177f633758de822be6e7e5f2afe2ae499c
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-1.obj
@@ -0,0 +1,1030 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-2.mtl b/assets/urdf/FoldingChair/100557/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-2.obj b/assets/urdf/FoldingChair/100557/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd5b6626c8cfbd1633abce146e744baa3d5a612
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-2.obj
@@ -0,0 +1,696 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-3.mtl b/assets/urdf/FoldingChair/100557/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71ff4b3abbf9b85f681657990c5cca518f24ac24
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
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+
diff --git a/assets/urdf/FoldingChair/100557/textured_objs/original-3.obj b/assets/urdf/FoldingChair/100557/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33140380c0d3021bc00f3b9eaaecfab8b8752219
--- /dev/null
+++ b/assets/urdf/FoldingChair/100557/textured_objs/original-3.obj
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diff --git a/assets/urdf/FoldingChair/100590/bounding_box.json b/assets/urdf/FoldingChair/100590/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3a3af2021487a7740702d6c27ae2529b58dd46
--- /dev/null
+++ b/assets/urdf/FoldingChair/100590/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.440492, -0.856016, -0.359807], "max": [0.414842, 0.743117, 0.531449]}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100590/grasp_poses.json b/assets/urdf/FoldingChair/100590/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5420ba786ecdea25e5dc6b48c4b3fa35a27dc5e6
--- /dev/null
+++ b/assets/urdf/FoldingChair/100590/grasp_poses.json
@@ -0,0 +1,134 @@
+{
+ "object_name": "100590",
+ "scale": 1.0,
+ "grasp_parts": {
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+ {
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+ "description": ""
+ },
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diff --git a/assets/urdf/FoldingChair/100590/mobility.urdf b/assets/urdf/FoldingChair/100590/mobility.urdf
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100590/result_original.json b/assets/urdf/FoldingChair/100590/result_original.json
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new file mode 100644
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\ No newline at end of file
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100600/meta.json b/assets/urdf/FoldingChair/100600/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100600/mobility.urdf b/assets/urdf/FoldingChair/100600/mobility.urdf
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new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100600/model_data.json b/assets/urdf/FoldingChair/100600/model_data.json
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100600/result.json b/assets/urdf/FoldingChair/100600/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe4399b1ba5736e0e314c1744b1c621aec1a5c79
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+++ b/assets/urdf/FoldingChair/100600/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100600/result_original.json b/assets/urdf/FoldingChair/100600/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100600/semantics.txt b/assets/urdf/FoldingChair/100600/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
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+++ b/assets/urdf/FoldingChair/100600/semantics.txt
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-1.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-1.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a331748137f376566b048c597dca45f839d59eb
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-1.obj
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-10.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-10.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97b3fd9d7dbe35a8df3d43112476bf83ab2e0f8d
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-10.obj
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-12.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-12.mtl
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-12.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22ee775f75c81e935856b6b9709536976834508b
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-12.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-13.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f87a20b7ebdc37372d7da7881a025914769dfd80
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-13.mtl
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-13.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d88a1fedc7bc870f46f0033d55d325a0f92f5a9
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-13.obj
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-14.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-14.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56af76683d98aea734d57b9eff5b8ebe34cb8a32
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-14.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-3.mtl b/assets/urdf/FoldingChair/100600/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-3.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..9ca2c41a38b48a62b92a0d4763ed7e1d729ad0d5
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-3.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-4.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b091d959ca28f48460e8518e6e2da7a0bddb2307
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-4.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..8be30d09de155c5c42fe3d5cb0bdd07dfb4c0681
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new file mode 100644
index 0000000000000000000000000000000000000000..51085098cc06c585dea692db4e36a0b549d8ddd0
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-5.obj
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+# SSTK version 0.8.0
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-6.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff1aae7ff34d352d830cb4111e5a5c32149626d5
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-6.obj
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-7.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd504de7163c011e84752e496ec09baa0b57f29d
--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-7.obj
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100600/textured_objs/original-9.obj b/assets/urdf/FoldingChair/100600/textured_objs/original-9.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/100600/textured_objs/original-9.obj
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diff --git a/assets/urdf/FoldingChair/100609/bounding_box.json b/assets/urdf/FoldingChair/100609/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e79fe87d2a34e85727ab1fb2294ff5ab58d2a67
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/bounding_box.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/grasp_poses.json b/assets/urdf/FoldingChair/100609/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0134d950f9c1c82da71d27054b241aba3ca3a9d
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/grasp_poses.json
@@ -0,0 +1,134 @@
+{
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/meta.json b/assets/urdf/FoldingChair/100609/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2805f04c4829cccd3ac1d97c7c1f617a1e706261
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/mobility.urdf b/assets/urdf/FoldingChair/100609/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..966d7e489d69f7943373115ac353968b1d3bd736
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new file mode 100644
index 0000000000000000000000000000000000000000..d1994cf3480bcd611c376302347bb7c15bf4278e
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/mobility_v2.json
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+[{"id": 0, "parent": 1, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}], "jointData": {"axis": {"origin": [0, -0.035852004289443, 0.0011007968094199957], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -112.32000000000002, "noLimit": false}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/model_data.json b/assets/urdf/FoldingChair/100609/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8c9e096a4c788947f85cf55a1cb84bbc03bc50
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/model_data.json
@@ -0,0 +1,160 @@
+{
+ "scale": 1.0,
+ "transform_matrix": [
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+ ],
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+ "init_qpos": [],
+ "grasp_parts": {
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+ "base": "base",
+ "description": ""
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+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/result.json b/assets/urdf/FoldingChair/100609/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6daa02e0605407f7f6e46658b7dd1c7f70769fd1
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-4", "original-1"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-3", "original-2", "original-8", "original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/result_original.json b/assets/urdf/FoldingChair/100609/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..eddf958e880769d3480a2043a11405a15b55008b
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-4", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100609/semantics.txt b/assets/urdf/FoldingChair/100609/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge seat
+link_1 free leg
diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-1.mtl b/assets/urdf/FoldingChair/100609/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-1.obj b/assets/urdf/FoldingChair/100609/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c21edd6c7ec3e1636ead645e5916f6d5f8daf2a
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-1.obj
@@ -0,0 +1,6774 @@
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diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-3.mtl b/assets/urdf/FoldingChair/100609/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-3.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-3.obj b/assets/urdf/FoldingChair/100609/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db0e77a9bae10e717c21512cab96574d4aedd6b
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..a3c2c137e3f7a2af0bebb931e79f373e352460cd
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diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-5.obj b/assets/urdf/FoldingChair/100609/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..bc61ed27d5da6e00861d9a0a517c4a6992762dda
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-6.mtl b/assets/urdf/FoldingChair/100609/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-6.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-6.obj b/assets/urdf/FoldingChair/100609/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76be63d0e6fa19bd1a9fc81e2ee70a91ac36f8e4
--- /dev/null
+++ b/assets/urdf/FoldingChair/100609/textured_objs/original-6.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/assets/urdf/FoldingChair/100609/textured_objs/original-7.obj b/assets/urdf/FoldingChair/100609/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43888cbde174b629e1938ad28de9299533f804a0
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100616/bounding_box.json b/assets/urdf/FoldingChair/100616/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..742b0acad6c29ca1605d78c11b3b5a223087c6ec
--- /dev/null
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100616/grasp_poses.json b/assets/urdf/FoldingChair/100616/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbac17ccd76524ac5b0d251f367ff8cbfb905ead
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100616/mobility.urdf b/assets/urdf/FoldingChair/100616/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ef6b46da6075108e8d26ff5a228629785147ab9
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diff --git a/assets/urdf/FoldingChair/100616/model_data.json b/assets/urdf/FoldingChair/100616/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb2645a42870db7d50bad5e9f76e2183fd4197a7
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/100616/result_original.json b/assets/urdf/FoldingChair/100616/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc6100f0240b7e97030dc2e38572af38b35f71
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/100616/semantics.txt b/assets/urdf/FoldingChair/100616/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..555d4849d0be1517ab8bb4c739516565036c84ee
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-1.mtl b/assets/urdf/FoldingChair/100616/textured_objs/original-1.mtl
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-1.obj b/assets/urdf/FoldingChair/100616/textured_objs/original-1.obj
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-2.mtl b/assets/urdf/FoldingChair/100616/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-2.mtl
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-2.obj b/assets/urdf/FoldingChair/100616/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79e45305ca5dc804825479db50827117d57a75be
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-2.obj
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-5.mtl b/assets/urdf/FoldingChair/100616/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-5.obj b/assets/urdf/FoldingChair/100616/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b505981742811333c3282809d4bce81376db531f
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-5.obj
@@ -0,0 +1,2251 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-6.mtl b/assets/urdf/FoldingChair/100616/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-6.obj b/assets/urdf/FoldingChair/100616/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23296a0922095017246a418ae6264deb8ce35593
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-6.obj
@@ -0,0 +1,2251 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/urdf/FoldingChair/100616/textured_objs/original-7.mtl b/assets/urdf/FoldingChair/100616/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f24f5356173cf1a2742bd31c6155690a29898d11
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4 0.4 0.4
+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/assets/urdf/FoldingChair/100616/textured_objs/original-7.obj b/assets/urdf/FoldingChair/100616/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e081d91fa590c1c65ba39842dd0e3792050a13
--- /dev/null
+++ b/assets/urdf/FoldingChair/100616/textured_objs/original-7.obj
@@ -0,0 +1,192 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Group5/mesh7/mesh7-geometry#mesh7-geometry
+v -0.401345 0.743783 -0.424439
+v -0.424501 0.712184 -0.418815
+v -0.424501 0.717648 -0.409350
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102255/result.json b/assets/urdf/FoldingChair/102255/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c467453ab3a9063cbfb27c6ca2a713bcb3fd9c6f
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-54", "original-48", "original-39", "original-46", "original-47", "original-34", "original-53", "original-36", "original-35", "original-32", "original-11"]}, {"text": "outlier", "name": "outlier", "id": 2, "objs": ["original-14", "original-51", "original-13", "original-52", "original-40", "original-41", "original-12", "original-49", "original-38", "original-50", "original-37"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-29", "original-21", "original-30", "original-28", "original-43", "original-22", "original-26", "original-4", "original-3", "original-33", "original-2", "original-44", "original-16", "original-8", "original-9", "original-45", "original-5", "original-27", "original-6", "original-31", "original-15", "original-23", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-7", "original-10", "original-19"]}]}]
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diff --git a/assets/urdf/FoldingChair/102255/result_original.json b/assets/urdf/FoldingChair/102255/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb159fca4fe7ef1589758c56a140bb6e934eee8
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/result_original.json
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diff --git a/assets/urdf/FoldingChair/102255/semantics.txt b/assets/urdf/FoldingChair/102255/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08937dd66dd0827273960366a83ae3488e40e706
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-10.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-10.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-10.obj
new file mode 100644
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--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-11.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-11.mtl
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index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-11.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-11.obj
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index 0000000000000000000000000000000000000000..52b9a6e801fccb32b4c8b6be16d7895622fb3d96
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-17.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-17.obj
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-2.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-2.mtl
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-2.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-2.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-2.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-20.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-20.mtl
new file mode 100644
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+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-20.mtl
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-21.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-21.mtl
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-22.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-22.obj
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+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-22.obj
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-24.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-26.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-26.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-26.obj
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-31.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa438b19cfb494d5221240eacccd7a24205ad72a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-31.obj
@@ -0,0 +1,8716 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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index 0000000000000000000000000000000000000000..8c15c60ff4cb449dbb74e2c9faa1220e13dc29a0
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-39.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-39.obj
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-40.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-40.mtl
@@ -0,0 +1,8 @@
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+illum 3
+d 1
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+map_Kd ../images/texture_3.jpg
+
diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-41.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf21496e8f911541b20d541d0e18af551bc9122b
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-41.mtl
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+illum 3
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+map_Kd ../images/texture_3.jpg
+
diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-46.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cbe49b8f41fd851c1da92af3dd09d64c7da2c9a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-46.obj
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-48.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-48.obj
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-49.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e62df4583ca7529dd1a2b69063d632419eba8c0
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-5.mtl b/assets/urdf/FoldingChair/102255/textured_objs/original-5.mtl
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-51.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acd9813bcb7e07e0b239d275cfd1ce8c672ce2ac
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-51.obj
@@ -0,0 +1,564 @@
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-54.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f494f4dabf72cb2538c99e5c7682105ad378fced
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-54.obj
@@ -0,0 +1,167 @@
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diff --git a/assets/urdf/FoldingChair/102255/textured_objs/original-6.obj b/assets/urdf/FoldingChair/102255/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..136ebb3e3f9536b0194bbbae922a78104e3a20b1
--- /dev/null
+++ b/assets/urdf/FoldingChair/102255/textured_objs/original-6.obj
@@ -0,0 +1,2277 @@
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diff --git a/assets/urdf/FoldingChair/102263/mobility.urdf b/assets/urdf/FoldingChair/102263/mobility.urdf
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diff --git a/assets/urdf/FoldingChair/102263/result.json b/assets/urdf/FoldingChair/102263/result.json
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diff --git a/assets/urdf/FoldingChair/102263/result_original.json b/assets/urdf/FoldingChair/102263/result_original.json
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diff --git a/assets/urdf/FoldingChair/102263/semantics.txt b/assets/urdf/FoldingChair/102263/semantics.txt
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-2.mtl b/assets/urdf/FoldingChair/102263/textured_objs/original-2.mtl
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-3.mtl b/assets/urdf/FoldingChair/102263/textured_objs/original-3.mtl
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-4.obj b/assets/urdf/FoldingChair/102263/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bcebba3e07230db85546a86c9a71f8fc8a0d426
--- /dev/null
+++ b/assets/urdf/FoldingChair/102263/textured_objs/original-4.obj
@@ -0,0 +1,2501 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-5.mtl b/assets/urdf/FoldingChair/102263/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98ffc4957075ea35eb8d4be7f3dadffd8aa26755
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-5.obj b/assets/urdf/FoldingChair/102263/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31f81c0162972a8c564521ea4770091c35314581
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-6.obj b/assets/urdf/FoldingChair/102263/textured_objs/original-6.obj
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-7.mtl b/assets/urdf/FoldingChair/102263/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..54212c58d5fd4ea21e18df7cd1602e0fc63024b4
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diff --git a/assets/urdf/FoldingChair/102263/textured_objs/original-7.obj b/assets/urdf/FoldingChair/102263/textured_objs/original-7.obj
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new file mode 100644
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\ No newline at end of file
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diff --git a/assets/urdf/FoldingChair/102333/meta.json b/assets/urdf/FoldingChair/102333/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc711f6af4f09ab4a79143b8eb2662b1b6958422
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\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/102333/mobility.urdf b/assets/urdf/FoldingChair/102333/mobility.urdf
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diff --git a/assets/urdf/FoldingChair/102333/mobility_v2.json b/assets/urdf/FoldingChair/102333/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..abec1a7c44d7d2ac871af6c5d1d8e4fbb7bf2322
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}, {"id": 1, "parent": 0, "joint": "hinge", "name": "seat", "parts": [{"id": 1, "name": "seat", "children": []}, {"id": 2, "name": "outlier", "children": []}], "jointData": {"axis": {"origin": [0, -0.22156147667845733, -0.03401156177232044], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -51.120000000000005, "noLimit": false}}}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/102333/model_data.json b/assets/urdf/FoldingChair/102333/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83114ad2fe36a2a89f091d9503dddd398293361
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/model_data.json
@@ -0,0 +1,160 @@
+{
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+ "transform_matrix": [
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+ "init_qpos": [],
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+ "base": "base",
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+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/102333/result.json b/assets/urdf/FoldingChair/102333/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a660fe884c349fc0ba8a54acd876573b01450d5
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/result.json
@@ -0,0 +1 @@
+[{"text": "FoldingChair", "name": "FoldingChair", "id": 0, "children": [{"text": "seat", "name": "seat", "id": 1, "objs": ["original-192", "original-253", "original-197", "original-245", "original-187", "original-221", "original-207", "original-247", "original-180", "original-196", "original-190", "original-186", "original-220", "original-216", "original-210", "original-206", "original-200", "original-271", "original-231", "original-167", "original-234", "original-235", "original-233", "original-230", "original-232", "original-179", "original-182", "original-181", "original-244", "original-191", "original-239", "original-243", "original-238", "original-237", "original-236", "original-226", "original-265", "original-175", "original-225", "original-224", "original-229", "original-227", "original-228", "original-264", "original-258", "original-269", "original-199", "original-204", "original-209", "original-214", "original-219", "original-184", "original-189", "original-194", "original-262", "original-261", "original-260", "original-259", "original-270", "original-254", "original-205", "original-255", "original-215", "original-256", "original-185", "original-257", "original-195", "original-252", "original-222", "original-246", "original-242", "original-217", "original-251", "original-212", "original-250", "original-202", "original-267", "original-249", "original-272", "original-248", "original-201", "original-241", "original-211", "original-240", "original-266", "original-120", "original-124"]}, {"text": "outlier", "name": "outlier", "id": 2, "objs": ["original-168", "original-176", "original-122", "original-126", "original-121", "original-125"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-103", "original-100", "original-21", "original-30", "original-36", "original-28", "original-96", "original-64", "original-134", "original-43", "original-71", "original-52", "original-83", "original-22", "original-26", "original-117", "original-110", "original-153", "original-107", "original-104", "original-4", "original-3", "original-128", "original-33", "original-130", "original-139", "original-44", "original-112", "original-162", "original-106", "original-16", "original-86", "original-8", "original-173", "original-147", "original-109", "original-13", "original-9", "original-45", "original-148", "original-172", "original-138", "original-156", "original-49", "original-93", "original-61", "original-144", "original-39", "original-5", "original-77", "original-114", "original-54", "original-150", "original-63", "original-27", "original-159", "original-170", "original-87", "original-51", "original-55", "original-113", "original-50", "original-141", "original-31", "original-37", "original-48", "original-15", "original-116", "original-85", "original-56", "original-76", "original-108", "original-99", "original-136", "original-62", "original-75", "original-133", "original-158", "original-58", "original-145", "original-67", "original-69", "original-131", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-161", "original-74", "original-25", "original-73", "original-12", "original-92", "original-142", "original-42", "original-79", "original-165", "original-102", "original-24", "original-20", "original-88", "original-115", "original-32", "original-95", "original-7", "original-101", "original-81", "original-94", "original-97", "original-89", "original-14", "original-82", "original-60", "original-19", "original-90", "original-40", "original-151", "original-46", "original-155", "original-57", "original-164"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/102333/result_original.json b/assets/urdf/FoldingChair/102333/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..add5143dfb179a1391e77975aca7288d5dc82c86
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "FoldingChair", "text": "FoldingChair", "children": [{"id": 1, "name": "seat", "text": "seat", "objs": ["original-192", "original-253", "original-197", "original-245", "original-187", "original-221", "original-207", "original-247", "original-180", "original-196", "original-190", "original-186", "original-220", "original-216", "original-210", "original-206", "original-200", "original-271", "original-231", "original-167", "original-234", "original-235", "original-233", "original-230", "original-232", "original-179", "original-182", "original-181", "original-244", "original-191", "original-239", "original-243", "original-238", "original-237", "original-236", "original-226", "original-265", "original-175", "original-225", "original-224", "original-229", "original-227", "original-228", "original-264", "original-258", "original-269", "original-199", "original-204", "original-209", "original-214", "original-219", "original-184", "original-189", "original-194", "original-262", "original-261", "original-260", "original-259", "original-270", "original-254", "original-205", "original-255", "original-215", "original-256", "original-185", "original-257", "original-195", "original-252", "original-222", "original-246", "original-242", "original-217", "original-251", "original-212", "original-250", "original-202", "original-267", "original-249", "original-272", "original-248", "original-201", "original-241", "original-211", "original-240", "original-266", "original-120", "original-124"]}, {"id": 2, "name": "outlier", "text": "outlier", "objs": ["original-168", "original-176", "original-122", "original-126", "original-121", "original-125"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/FoldingChair/102333/semantics.txt b/assets/urdf/FoldingChair/102333/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08937dd66dd0827273960366a83ae3488e40e706
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/semantics.txt
@@ -0,0 +1,2 @@
+link_0 free leg
+link_1 hinge seat
diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-100.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9764705882352941 0.9333333333333333
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-101.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9764705882352941 0.9333333333333333
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-101.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dd64ec0cc66a00b9314a3756ccd835d27d36615
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-101.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o #ID524
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-102.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-102.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8056d104f9296787321491fec2714408c72bcb2f
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-102.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o #ID530
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-103.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-103.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-103.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bffae6e48d598a180252d9e237971ae15c13d8ed
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-103.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o #ID536
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-104.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-104.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bc6e026a2e9cafeaae4a2ad459cb74852502227
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-104.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o #ID542
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-106.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-106.mtl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-106.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee05cbd72a513d40e3b8b4e0d6c98542731c02e5
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-106.obj
@@ -0,0 +1,141 @@
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--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-114.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-114.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-116.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-116.obj
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+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-116.obj
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--- /dev/null
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-139.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-139.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-14.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-142.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-142.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-142.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-144.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-147.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-147.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-148.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d9d14c3e72e1169a5d012bc081da3addd58de9
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-148.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-15.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-15.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76e47aa2b9f31d29565bc156772226a6061d73b4
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-15.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-150.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-150.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17a44e628bcac4a9067a62872c60d43883e1fa3f
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+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-150.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-150.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52a95e8f333967d382470142b221db7a140e324d
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-150.obj
@@ -0,0 +1,823 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..17a44e628bcac4a9067a62872c60d43883e1fa3f
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-153.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-153.mtl
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index 0000000000000000000000000000000000000000..17a44e628bcac4a9067a62872c60d43883e1fa3f
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-153.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-153.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-158.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-158.mtl
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new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-164.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-164.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-167.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b37086605f587f831d6dd1cc7bb9b4a319d62f
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-167.obj
@@ -0,0 +1,3684 @@
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-180.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-180.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-180.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-180.obj
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index 0000000000000000000000000000000000000000..eb5826998451333396a5b7446492abf038b92815
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index 0000000000000000000000000000000000000000..a38fc1f1cf84a0ccf62e8fdf1b08f8d5fc9eb548
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-201.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-201.obj
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+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-202.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-212.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-212.obj
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index 0000000000000000000000000000000000000000..d2b06f2a079a5b1b5052e630a4a1915ed1e3e7c4
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-212.obj
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+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-241.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-242.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-242.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-242.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..254c548744391afb558979104e5e541706f23085
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-242.obj
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+mtllib original-242.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-243.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-243.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-243.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-245.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-246.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-246.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-246.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-246.obj
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+mtllib original-246.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-247.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-247.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-247.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-247.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-247.obj
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+# SSTK version 0.8.0
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+mtllib original-247.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-248.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-248.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-248.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-249.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-249.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-249.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-249.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-249.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-249.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 249
+mtllib original-249.mtl
+o #ID1447
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-25.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-25.mtl
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-25.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-250.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-250.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-250.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-251.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-251.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1e2e64fa59d8f2c27922d60a9c480ed1b77226a
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-251.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-251.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-251.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-251.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 251
+mtllib original-251.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-252.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-252.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-252.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-253.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-253.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-253.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-253.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-253.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-253.obj
@@ -0,0 +1,19 @@
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-254.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-254.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-254.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-256.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-256.mtl
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-256.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-256.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-256.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-272.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-272.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-31.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57574884eb6cd8f7246e80c2f275d85ccefa115
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-31.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-49.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-49.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-5.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-5.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-5.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-5.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-50.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-50.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-50.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-50.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-50.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-51.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-51.mtl
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-51.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4afff08b22cd7fcdcfe32b2ddad615366d14f918
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-51.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-52.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-52.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-52.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-54.mtl b/assets/urdf/FoldingChair/102333/textured_objs/original-54.mtl
new file mode 100644
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-54.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-54.obj
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index 0000000000000000000000000000000000000000..9ce45be13358934967fdc4eebfcdbecf73ea0926
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-54.obj
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diff --git a/assets/urdf/FoldingChair/102333/textured_objs/original-55.obj b/assets/urdf/FoldingChair/102333/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fe4eefbddbbeba183c31371704993fb4b32d3c6
--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-55.obj
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--- /dev/null
+++ b/assets/urdf/FoldingChair/102333/textured_objs/original-95.obj
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diff --git a/assets/urdf/Knife/102401/grasp_poses.json b/assets/urdf/Knife/102401/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1650dbec0126ac40f93b65e58363b1fa124d860
--- /dev/null
+++ b/assets/urdf/Knife/102401/grasp_poses.json
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diff --git a/assets/urdf/Knife/102401/mobility.urdf b/assets/urdf/Knife/102401/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac1c9fcb2caaa042b0c6ab21e20eb386f9a288d4
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diff --git a/assets/urdf/Knife/102401/result.json b/assets/urdf/Knife/102401/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf4344e47b3cd74a88389954380e1329498ebda
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+++ b/assets/urdf/Knife/102401/result.json
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/bounding_box.json b/assets/urdf/Knife/103572/bounding_box.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/grasp_poses.json b/assets/urdf/Knife/103572/grasp_poses.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/mobility.urdf b/assets/urdf/Knife/103572/mobility.urdf
new file mode 100644
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diff --git a/assets/urdf/Knife/103572/mobility_v2.json b/assets/urdf/Knife/103572/mobility_v2.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Knife/103572/mobility_v2.json
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/result.json b/assets/urdf/Knife/103572/result.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/result_original.json b/assets/urdf/Knife/103572/result_original.json
new file mode 100644
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\ No newline at end of file
diff --git a/assets/urdf/Knife/103572/semantics.txt b/assets/urdf/Knife/103572/semantics.txt
new file mode 100644
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index 0000000000000000000000000000000000000000..c556faf0e886c45c91e9d7c81694f96559de6b9c
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diff --git a/assets/urdf/Remote/100412/textured_objs/original-65.obj b/assets/urdf/Remote/100412/textured_objs/original-65.obj
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