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diff --git a/PartNetMobility/Bottle/3868/point_sample/ply_10000.ply b/PartNetMobility/Bottle/3868/point_sample/ply_10000.ply
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index 0000000000000000000000000000000000000000..2624a5acf88d8eca3bf6be0203728a20004bfd7a
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diff --git a/PartNetMobility/Bottle/3868/point_sample/pts_10000.pts b/PartNetMobility/Bottle/3868/point_sample/pts_10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..21142e32fcbaaf291614ed9da9e349d484b53deb
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diff --git a/PartNetMobility/Bottle/3868/point_sample/pts_10000.txt b/PartNetMobility/Bottle/3868/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44d7b2cacffc22bac34a72ae5f5fcf984ca220cb
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3868/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f97897912c35ace7c7bbdc260734e27ebafc132d
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e16475a0c8b80e048976dfe300181fd59314946a
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_nor_rgba_10000.ply b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_nor_rgba_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..a11c76b39e6b560c37abf48f458e5ffc9c3bc739
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d052c86978fe6a4daab1698a894faca88c4b4ea
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/3868/result.json b/PartNetMobility/Bottle/3868/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..91342ce6a16b13e401cb9ca5a5c8ac4f46157fff
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-1"], "id": 5, "name": "body"}, {"text": "Neck", "objs": ["original-34"], "id": 6, "name": "neck"}, {"text": "Lid", "objs": ["original-36"], "id": 7, "name": "lid"}, {"text": "Mouth", "objs": ["original-35"], "id": 8, "name": "mouth"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
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diff --git a/PartNetMobility/Bottle/3868/result_after_merging.json b/PartNetMobility/Bottle/3868/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd05516ddafc6e23ba531d875460191ade7a65b0
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/result_after_merging.json
@@ -0,0 +1 @@
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diff --git a/PartNetMobility/Bottle/3868/semantics.txt b/PartNetMobility/Bottle/3868/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0870e2d3ddd62a697fedd6a1aa3fb8fbf5e03e4
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/semantics.txt
@@ -0,0 +1,2 @@
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/new_1.mtl b/PartNetMobility/Bottle/3868/textured_objs/new_1.mtl
new file mode 100644
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/new_1.obj b/PartNetMobility/Bottle/3868/textured_objs/new_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..477141e9bb0af9a3dee2b320cc8a729b50625cbd
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/original_34.mtl b/PartNetMobility/Bottle/3868/textured_objs/original_34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_34.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/PartNetMobility/Bottle/3868/textured_objs/original_34.obj b/PartNetMobility/Bottle/3868/textured_objs/original_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57321fc41ab664fc345cc7823b48a810841a55c2
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_34.obj
@@ -0,0 +1,4583 @@
+# SSTK version 0.8.0
+# 34
+mtllib original_34.mtl
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/original_35.mtl b/PartNetMobility/Bottle/3868/textured_objs/original_35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866dcdf5ce65995182cb7d691ba6d55f275958b3
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_35.mtl
@@ -0,0 +1,42 @@
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/original_35.obj b/PartNetMobility/Bottle/3868/textured_objs/original_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..767f8686108d4ac940115c11b6c50f6261583637
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_35.obj
@@ -0,0 +1,3498 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Bottle/3868/textured_objs/original_36.mtl b/PartNetMobility/Bottle/3868/textured_objs/original_36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c992175ea6feafbc4cf630e5ecea5c77fa8ae82
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_36.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.6941176470588235 0 0.34901960784313724 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/3868/textured_objs/original_36.obj b/PartNetMobility/Bottle/3868/textured_objs/original_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90c458ebcd866bbf780941432614ed37666b9bc3
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/textured_objs/original_36.obj
@@ -0,0 +1,3792 @@
+# SSTK version 0.8.0
+# 36
+mtllib original_36.mtl
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diff --git a/PartNetMobility/Bottle/3868/tree_hier.html b/PartNetMobility/Bottle/3868/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..8a91ac249787cef2f80ba221805fe0ce3a1bfc63
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 body Body</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 neck Neck</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 lid Lid</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 mouth Mouth</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3868/tree_hier_after_merging.html b/PartNetMobility/Bottle/3868/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..a60c0e0f2d7ff578cff13c29aa697d8ec58e91d1
--- /dev/null
+++ b/PartNetMobility/Bottle/3868/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 mouth mouth</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/bounding_box.json b/PartNetMobility/Bottle/3933/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce754ff01615afa7b180b3daf74ac6486887f0ca
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.310993, -0.629433, -0.326889], "max": [0.3312, 1.001788, 0.315304]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/images/texture_0.jpg b/PartNetMobility/Bottle/3933/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..83666bd13a353ee5a14ed416edfef81f7846d19d
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70ecf44824ab6df2546cb0449015e42ac21eb3b41ef245aa3984aaca053013ca
+size 33757
diff --git a/PartNetMobility/Bottle/3933/images/texture_1.jpg b/PartNetMobility/Bottle/3933/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eade35831e34322ff007dc57f4c5015961302b9a
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2263c82eba2f77bbd44bae236509f7dd0ddd8868f3d00c72554a415927e7c1
+size 2956
diff --git a/PartNetMobility/Bottle/3933/meta.json b/PartNetMobility/Bottle/3933/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a533153936842b3757c3a90deb4b15846fa30ddc
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/meta.json
@@ -0,0 +1 @@
+{"model_id": "b7ffc4d34ffbd449940806ade53ef2f", "anno_id": "3933", "user_id": "xiangchaoqun", "time_in_sec": "314", "version": "4", "model_cat": "Bottle"}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/mobility.urdf b/PartNetMobility/Bottle/3933/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1148d1cf51e6a966bd4f2e5b5c5f2ee50da86054
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/mobility.urdf
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b7ffc4d34ffbd449940806ade53ef2f">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_10">
+			<origin xyz="-0.010103500000000001 0 0.005792499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.010103500000000001 0 0.005792499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.010103500000000001 0 -0.005792499999999999"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.04800000000000004" upper="-0.02400000000000002"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/3933/mobility_v2.json b/PartNetMobility/Bottle/3933/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..86755b7b57f42d282e854400247fe7e9d3497972
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":10,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.010103500000000001,0,-0.005792499999999999],"direction":[0,1,0]},"limit":{"a":-0.04800000000000004,"b":-0.02400000000000002,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":8,"name":"body","children":[]},{"id":9,"name":"neck","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render/0.png b/PartNetMobility/Bottle/3933/parts_render/0.png
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eac7a7d901dd3ec9b1016e8ff5f1342b6baf99c1ded7a6587d2be605c6fa1b6
+size 31481
diff --git a/PartNetMobility/Bottle/3933/parts_render/0.txt b/PartNetMobility/Bottle/3933/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c125c2cb61462ff794f159c91f1caac02d56a
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/0.txt
@@ -0,0 +1 @@
+0 bottle Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render/1.png b/PartNetMobility/Bottle/3933/parts_render/1.png
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+++ b/PartNetMobility/Bottle/3933/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNetMobility/Bottle/3933/parts_render/1.txt b/PartNetMobility/Bottle/3933/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/1.txt
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+1 normal_bottle Normal Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render/10.png b/PartNetMobility/Bottle/3933/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd1aaff121e2fb6f8a05249afe40fe27a59dd81d
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 21443
diff --git a/PartNetMobility/Bottle/3933/parts_render/10.txt b/PartNetMobility/Bottle/3933/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9fe34b6bb6b1879573a718dc65ba0abbf8808e1
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/10.txt
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+10 lid Lid
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render/8.png b/PartNetMobility/Bottle/3933/parts_render/8.png
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 30011
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new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3933/parts_render/8.txt
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+8 body Body
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render/9.png b/PartNetMobility/Bottle/3933/parts_render/9.png
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNetMobility/Bottle/3933/parts_render/9.txt b/PartNetMobility/Bottle/3933/parts_render/9.txt
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+++ b/PartNetMobility/Bottle/3933/parts_render/9.txt
@@ -0,0 +1 @@
+9 neck Neck
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render_after_merging/0.png b/PartNetMobility/Bottle/3933/parts_render_after_merging/0.png
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+++ b/PartNetMobility/Bottle/3933/parts_render_after_merging/0.png
@@ -0,0 +1,3 @@
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new file mode 100644
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render_after_merging/2.png b/PartNetMobility/Bottle/3933/parts_render_after_merging/2.png
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diff --git a/PartNetMobility/Bottle/3933/parts_render_after_merging/3.png b/PartNetMobility/Bottle/3933/parts_render_after_merging/3.png
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diff --git a/PartNetMobility/Bottle/3933/parts_render_after_merging/3.txt b/PartNetMobility/Bottle/3933/parts_render_after_merging/3.txt
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/parts_render_after_merging/4.png b/PartNetMobility/Bottle/3933/parts_render_after_merging/4.png
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/point_sample/label_10000.txt b/PartNetMobility/Bottle/3933/point_sample/label_10000.txt
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diff --git a/PartNetMobility/Bottle/3933/point_sample/ply_10000.ply b/PartNetMobility/Bottle/3933/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..9aacffc0556ea9e235a56b549eb63d279ea08cc0
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/point_sample/ply_10000.ply
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diff --git a/PartNetMobility/Bottle/3933/point_sample/pts_10000.txt b/PartNetMobility/Bottle/3933/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9460be2feb2cc9188dc1eb09d0cce9eba84b3d1a
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3933/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/3933/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f95084067ab916f7eb3a73e4da759938240b417
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/point_sample/sample_points_all_label_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/3933/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/3933/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..5a952b029f608cfb85fcfe50c30fba673c11746d
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..dacab8acbd479166780e769602edfbc71860d237
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diff --git a/PartNetMobility/Bottle/3933/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/3933/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12976a08a6873e1b8040d6a7f50fff33d2ff3bdb
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/3933/result.json b/PartNetMobility/Bottle/3933/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2841af035a34f6a7177677e7f9b1810f77a17c5a
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/result.json
@@ -0,0 +1 @@
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diff --git a/PartNetMobility/Bottle/3933/result_after_merging.json b/PartNetMobility/Bottle/3933/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..952ce7202b6ab7f26819e87f20cdb958e271cff8
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/result_after_merging.json
@@ -0,0 +1 @@
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diff --git a/PartNetMobility/Bottle/3933/semantics.txt b/PartNetMobility/Bottle/3933/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
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diff --git a/PartNetMobility/Bottle/3933/textured_objs/new_1.mtl b/PartNetMobility/Bottle/3933/textured_objs/new_1.mtl
new file mode 100644
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diff --git a/PartNetMobility/Bottle/3933/textured_objs/new_1.obj b/PartNetMobility/Bottle/3933/textured_objs/new_1.obj
new file mode 100644
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diff --git a/PartNetMobility/Bottle/3933/tree_hier.html b/PartNetMobility/Bottle/3933/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..0b6825758ecc59e74327e6e7c2494bb560ec373f
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>8 body Body</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 neck Neck</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 lid Lid</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3933/tree_hier_after_merging.html b/PartNetMobility/Bottle/3933/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/PartNetMobility/Bottle/3933/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/bounding_box.json b/PartNetMobility/Bottle/3934/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e45268eec01a5dbd65611e917c96c120ee4d6629
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.482606, -0.913444, -0.471479], "max": [0.467662, 0.919215, 0.478789]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/meta.json b/PartNetMobility/Bottle/3934/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9cddc0920cb3cf8850afa115c0579eccb86f42a
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/meta.json
@@ -0,0 +1 @@
+{"model_id": "b8767b71c2216dcad317c475f024f3b8", "anno_id": "3934", "user_id": "zhouwenxian", "time_in_sec": "213", "version": "4", "model_cat": "Bottle"}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/mobility.urdf b/PartNetMobility/Bottle/3934/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cadc67757b42093dca1d0d08012b21108c9f9cd5
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/mobility.urdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b8767b71c2216dcad317c475f024f3b8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_7">
+			<origin xyz="0.007472208842931163 0 -0.0036549999999999916"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.007472208842931163 0 -0.0036549999999999916"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.007472208842931163 0 0.0036549999999999916"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.1080000000000001" upper="-0.008000000000000007"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/3934/mobility_v2.json b/PartNetMobility/Bottle/3934/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb546186f2c657060d4bb825d444307645d4cf80
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":7,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.007472208842931163,0,0.0036549999999999916],"direction":[0,-1,0]},"limit":{"a":0.1080000000000001,"b":0.008000000000000007,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":5,"name":"body","children":[]},{"id":6,"name":"neck","children":[]}],"jointData":{}}]
\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3934/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf1d1bbd4300983151db361516c57355e3c7f390517de2d2755edee50d459d6
+size 31630
diff --git a/PartNetMobility/Bottle/3934/parts_render/0.txt b/PartNetMobility/Bottle/3934/parts_render/0.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3934/parts_render/0.txt
@@ -0,0 +1 @@
+0 bottle Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render/1.png b/PartNetMobility/Bottle/3934/parts_render/1.png
new file mode 100644
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diff --git a/PartNetMobility/Bottle/3934/parts_render/1.txt b/PartNetMobility/Bottle/3934/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3934/parts_render/1.txt
@@ -0,0 +1 @@
+1 normal_bottle Normal Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render/5.png b/PartNetMobility/Bottle/3934/parts_render/5.png
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diff --git a/PartNetMobility/Bottle/3934/parts_render/5.txt b/PartNetMobility/Bottle/3934/parts_render/5.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3934/parts_render/5.txt
@@ -0,0 +1 @@
+5 body Body
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render/6.png b/PartNetMobility/Bottle/3934/parts_render/6.png
new file mode 100644
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diff --git a/PartNetMobility/Bottle/3934/parts_render/6.txt b/PartNetMobility/Bottle/3934/parts_render/6.txt
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@@ -0,0 +1 @@
+6 neck Neck
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render/7.png b/PartNetMobility/Bottle/3934/parts_render/7.png
new file mode 100644
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+++ b/PartNetMobility/Bottle/3934/parts_render/7.txt
@@ -0,0 +1 @@
+7 lid Lid
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/0.png b/PartNetMobility/Bottle/3934/parts_render_after_merging/0.png
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/1.png b/PartNetMobility/Bottle/3934/parts_render_after_merging/1.png
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/2.png b/PartNetMobility/Bottle/3934/parts_render_after_merging/2.png
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/3.png b/PartNetMobility/Bottle/3934/parts_render_after_merging/3.png
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/4.png b/PartNetMobility/Bottle/3934/parts_render_after_merging/4.png
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diff --git a/PartNetMobility/Bottle/3934/parts_render_after_merging/4.txt b/PartNetMobility/Bottle/3934/parts_render_after_merging/4.txt
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+++ b/PartNetMobility/Bottle/3934/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 lid lid
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/point_sample/label_10000.txt b/PartNetMobility/Bottle/3934/point_sample/label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c711c29f29e7eea4bb67cbb46f24705ba63c9914
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/point_sample/label_10000.txt
@@ -0,0 +1,10000 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a77588c221ddd3ecb32e6039c357253ad626d440
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diff --git a/PartNetMobility/Bottle/3934/point_sample/pts_10000.txt b/PartNetMobility/Bottle/3934/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5c58265fa387f5bdb19928979f81186cadd99b28
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3934/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..57ffe4f0890b38e4eff237bbdf0b855c9679608a
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d973956a83a6de4053b8b15b4890305bb7aa39d
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_label_10000.ply
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new file mode 100644
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--- /dev/null
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diff --git a/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..41099634c351976a07092ac85c4bff6ea3c3fcbf
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/3934/result.json b/PartNetMobility/Bottle/3934/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5600b82e216fbe7e958b5243d2311c9bd6cf4ad4
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-1"], "id": 5, "name": "body"}, {"text": "Neck", "objs": ["new-2"], "id": 6, "name": "neck"}, {"text": "Lid", "objs": ["original-2"], "id": 7, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/result_after_merging.json b/PartNetMobility/Bottle/3934/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe666c5d8da618f428e1b83f01486acc404ef7ac
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "bottle", "name": "bottle", "objs": ["new-1", "new-2", "original-2"], "id": 0, "children": [{"text": "normal_bottle", "name": "normal_bottle", "objs": ["new-1", "new-2", "original-2"], "id": 1, "children": [{"text": "body", "name": "body", "objs": ["new-1"], "id": 2, "ori_id": 5}, {"text": "neck", "name": "neck", "objs": ["new-2"], "id": 3, "ori_id": 6}, {"text": "lid", "name": "lid", "objs": ["original-2"], "id": 4, "ori_id": 7}], "ori_id": 1}], "ori_id": 0}]
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diff --git a/PartNetMobility/Bottle/3934/semantics.txt b/PartNetMobility/Bottle/3934/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/3934/textured_objs/new_1.mtl b/PartNetMobility/Bottle/3934/textured_objs/new_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9aa3f68117374682a496dfbb8744ec21a5731fb1
--- /dev/null
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+illum 4
+d 0.5
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/PartNetMobility/Bottle/3934/textured_objs/new_1.obj b/PartNetMobility/Bottle/3934/textured_objs/new_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fc30525cb33e9c88e16796667c857bbf9ffb0c
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diff --git a/PartNetMobility/Bottle/3934/textured_objs/new_2.mtl b/PartNetMobility/Bottle/3934/textured_objs/new_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9aa3f68117374682a496dfbb8744ec21a5731fb1
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/textured_objs/new_2.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Bottle/3934/textured_objs/new_2.obj b/PartNetMobility/Bottle/3934/textured_objs/new_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59e64b4bb1e859c5c0350f51bb3e0c9f759ba742
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/textured_objs/new_2.obj
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diff --git a/PartNetMobility/Bottle/3934/textured_objs/original_2.mtl b/PartNetMobility/Bottle/3934/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c710b19c6d67e9ac2731deebaf450bfe7d4ddd3
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/textured_objs/original_2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.7843137254901961 0.48627450980392156 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/3934/textured_objs/original_2.obj b/PartNetMobility/Bottle/3934/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb52a8392cb474fdec2316cbdd3027c5b43fcbb7
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/textured_objs/original_2.obj
@@ -0,0 +1,4321 @@
+# SSTK version 0.8.0
+# 2
+mtllib original_2.mtl
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diff --git a/PartNetMobility/Bottle/3934/tree_hier.html b/PartNetMobility/Bottle/3934/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..6598fe657a4fef90baa6c227b3dcbd6fb8245c72
--- /dev/null
+++ b/PartNetMobility/Bottle/3934/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 body Body</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 neck Neck</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 lid Lid</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3934/tree_hier_after_merging.html b/PartNetMobility/Bottle/3934/tree_hier_after_merging.html
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/3934/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3944/bounding_box.json b/PartNetMobility/Bottle/3944/bounding_box.json
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--- /dev/null
+++ b/PartNetMobility/Bottle/3944/bounding_box.json
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+{"min": [-0.603228, -0.705604, -0.593261], "max": [0.581115, 0.993976, 0.591082]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3944/images/texture_0.jpg b/PartNetMobility/Bottle/3944/images/texture_0.jpg
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+<robot name="partnet_bd6fdeae09b3c00c3ea96ac97db63fa8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="closure_7">
+			<origin xyz="0.0110565529579844 0 0.0010895033585738402"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
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+			<geometry>
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+	</link>
+	<joint name="joint_0" type="prismatic">
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+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.2200000000000002" upper="-0.02400000000000002"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_5">
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+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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diff --git a/PartNetMobility/Bottle/3944/point_sample/pts_10000.pts b/PartNetMobility/Bottle/3944/point_sample/pts_10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..2a82d13fb3782b04bed7f5646740334d5609a5b6
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3944/point_sample/pts_10000.txt b/PartNetMobility/Bottle/3944/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..538375989b61f2083a595513cb35778e54ebc809
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diff --git a/PartNetMobility/Bottle/3944/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33125752fabea34a3bfb063853e438c9f6dffad1
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ae10cc3b39d8625adff0183a15fa87ff90afea79
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_label_10000.ply
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diff --git a/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08ed28978d3e8cc02203d6d2f96f26d5bd82bbfa
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Bottle/3944/result.json b/PartNetMobility/Bottle/3944/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22f0e0da3a63ea3f797e8e69659a59bd669cbf9
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["original-1"], "id": 5, "name": "body"}, {"text": "Neck", "objs": ["original-2"], "id": 6, "name": "neck"}, {"text": "Closure", "objs": ["original-3"], "id": 7, "name": "closure"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3944/result_after_merging.json b/PartNetMobility/Bottle/3944/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99377e0c2feab506d90e33896c6b20e8496d81c
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "name": "bottle", "children": [{"ori_id": 1, "name": "normal_bottle", "children": [{"objs": ["original-1"], "ori_id": 5, "name": "body", "text": "body", "id": 2}, {"objs": ["original-2"], "ori_id": 6, "name": "neck", "text": "neck", "id": 3}, {"objs": ["original-3"], "ori_id": 7, "name": "closure", "text": "closure", "id": 4}], "id": 1, "objs": ["original-1", "original-2", "original-3"], "text": "normal_bottle"}], "id": 0, "objs": ["original-1", "original-2", "original-3"], "text": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3944/semantics.txt b/PartNetMobility/Bottle/3944/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3d06c6d84d90181d65cb9e244df35b5262c9bac9
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider translation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/3944/textured_objs/original_1.mtl b/PartNetMobility/Bottle/3944/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd47b7cd4be383d6ee79e81af1a30bf90afd53
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/textured_objs/original_1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.8
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Bottle/3944/textured_objs/original_1.obj b/PartNetMobility/Bottle/3944/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f1d7bf7225cf210878456333f1e1036b0d86f3d
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/textured_objs/original_1.obj
@@ -0,0 +1,2039 @@
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+# 1
+mtllib original_1.mtl
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diff --git a/PartNetMobility/Bottle/3944/textured_objs/original_2.mtl b/PartNetMobility/Bottle/3944/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6dd47b7cd4be383d6ee79e81af1a30bf90afd53
--- /dev/null
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@@ -0,0 +1,8 @@
+newmtl material_0_0
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+d 0.8
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Bottle/3944/textured_objs/original_2.obj b/PartNetMobility/Bottle/3944/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b1c23f749152abeffc087fc22bb60a8f405717
--- /dev/null
+++ b/PartNetMobility/Bottle/3944/textured_objs/original_2.obj
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diff --git a/PartNetMobility/Bottle/3944/tree_hier.html b/PartNetMobility/Bottle/3944/tree_hier.html
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--- /dev/null
+++ b/PartNetMobility/Bottle/3944/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 body Body</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 neck Neck</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 closure Closure</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3944/tree_hier_after_merging.html b/PartNetMobility/Bottle/3944/tree_hier_after_merging.html
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--- /dev/null
+++ b/PartNetMobility/Bottle/3944/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 closure closure</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3990/bounding_box.json b/PartNetMobility/Bottle/3990/bounding_box.json
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+++ b/PartNetMobility/Bottle/3990/bounding_box.json
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+{"min": [-0.392757, -0.861733, -0.253107], "max": [0.395037, 0.983954, 0.251081]}
\ No newline at end of file
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+++ b/PartNetMobility/Bottle/3990/meta.json
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+{"model_id": "d1792ebb96fe73ff30612f5c0ef21eb8", "anno_id": "3990", "user_id": "zhouwenxian", "time_in_sec": "327", "version": "3", "model_cat": "Bottle"}
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diff --git a/PartNetMobility/Bottle/3990/mobility.urdf b/PartNetMobility/Bottle/3990/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7bd1501c769bb18ccdeca35c7ce7bc42c87db531
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_d1792ebb96fe73ff30612f5c0ef21eb8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_8">
+			<origin xyz="-0.0011399999999999882 0 0.001013"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0011399999999999882 0 0.001013"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.0011399999999999882 0 -0.001013"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.07600000000000007" upper="0.08400000000000007"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/3990/mobility_v2.json b/PartNetMobility/Bottle/3990/mobility_v2.json
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+version https://git-lfs.github.com/spec/v1
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+size 10990
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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/PartNetMobility/Bottle/3990/point_sample/pts_10000.txt b/PartNetMobility/Bottle/3990/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cde5739cf1a8db2ed00963d5061bc4994f1d1d94
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3990/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9c40efe7a6843724d788be00e104309973fcc566
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..bcb774a48e97af81e588f9ab251e21dc096e3260
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_nor_rgba_10000.ply b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_nor_rgba_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..cda94764b7eb4b1199243829e771cda7e49d2c78
--- /dev/null
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diff --git a/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..173418abc744f9791c798a4256ba6eb4e0e86d88
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/3990/result.json b/PartNetMobility/Bottle/3990/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..375e6972e5acbfe5085f68faf612cd44a1a8efd4
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["original-2"], "id": 6, "name": "body"}, {"text": "Neck", "objs": ["new-1"], "id": 7, "name": "neck"}, {"text": "Lid", "objs": ["original-4"], "id": 8, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3990/result_after_merging.json b/PartNetMobility/Bottle/3990/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb2216747a1ee314f52966d435aa8dfe2d4b8ea
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "bottle", "objs": ["original-2", "new-1", "original-4"], "name": "bottle", "ori_id": 0, "children": [{"text": "normal_bottle", "objs": ["original-2", "new-1", "original-4"], "name": "normal_bottle", "ori_id": 1, "children": [{"name": "body", "ori_id": 6, "text": "body", "id": 2, "objs": ["original-2"]}, {"name": "neck", "ori_id": 7, "text": "neck", "id": 3, "objs": ["new-1"]}, {"name": "lid", "ori_id": 8, "text": "lid", "id": 4, "objs": ["original-4"]}], "id": 1}], "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3990/semantics.txt b/PartNetMobility/Bottle/3990/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/3990/textured_objs/new_1.mtl b/PartNetMobility/Bottle/3990/textured_objs/new_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9aa3f68117374682a496dfbb8744ec21a5731fb1
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/new_1.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Bottle/3990/textured_objs/new_1.obj b/PartNetMobility/Bottle/3990/textured_objs/new_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17cc232b2b1778ca451d6f2ae26fd1a93a6a6a6d
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/new_1.obj
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diff --git a/PartNetMobility/Bottle/3990/textured_objs/original_2.mtl b/PartNetMobility/Bottle/3990/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..710fc58531afd6bbee4210be387c3adfa145a9d5
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/original_2.mtl
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diff --git a/PartNetMobility/Bottle/3990/textured_objs/original_2.obj b/PartNetMobility/Bottle/3990/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..438fe79ffd148442880900fbd574b349a9524a3b
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/original_2.obj
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diff --git a/PartNetMobility/Bottle/3990/textured_objs/original_4.mtl b/PartNetMobility/Bottle/3990/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dcce30dec1a5bb7f1a6a5e654a1cb983055f0083
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/original_4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/3990/textured_objs/original_4.obj b/PartNetMobility/Bottle/3990/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aca55048ebd5ff744f4b93ccc9de01cba2fa9ea
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/textured_objs/original_4.obj
@@ -0,0 +1,459 @@
+# SSTK version 0.8.0
+# 4
+mtllib original_4.mtl
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diff --git a/PartNetMobility/Bottle/3990/tree_hier.html b/PartNetMobility/Bottle/3990/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..af9b5a2002312ba0f25c7e15aa6b895a048f25ac
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 body Body</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 neck Neck</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 lid Lid</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/3990/tree_hier_after_merging.html b/PartNetMobility/Bottle/3990/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/PartNetMobility/Bottle/3990/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/bounding_box.json b/PartNetMobility/Bottle/4043/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..999d01101b4d47455bfa478150b50248278e7784
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.30443, -0.734154, -0.304728], "max": [0.315966, 0.99532, 0.315668]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/images/texture_0.jpg b/PartNetMobility/Bottle/4043/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..f1242e58a64d7c1c1da4a89a1ad58edde0e6dd97
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4022e65eedc7245819f8c5d1afa67d1f3940f8ab9801606cf547074fa036e85
+size 848
diff --git a/PartNetMobility/Bottle/4043/meta.json b/PartNetMobility/Bottle/4043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a1dbb7debe4ae8a89a821acbd19f83aa188707
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/meta.json
@@ -0,0 +1 @@
+{"model_id": "e7714b3280fa7f925b2cc658332a8e03", "anno_id": "4043", "user_id": "zhouwenxian", "time_in_sec": "272", "version": "6", "model_cat": "Bottle"}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/mobility.urdf b/PartNetMobility/Bottle/4043/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..af0313f3777647c2def80086b0062f91423a71f5
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/mobility.urdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="partnet_e7714b3280fa7f925b2cc658332a8e03">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_11">
+			<origin xyz="-0.005768000000000002 0 -0.005470435975161662"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005768000000000002 0 -0.005470435975161662"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.005768000000000002 0 0.005470435975161662"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.09200000000000008" upper="0.05600000000000005"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/4043/mobility_v2.json b/PartNetMobility/Bottle/4043/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f121f96f6bed69fb076a5b58f8fecdb81ff51225
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":11,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.005768000000000002,0,0.005470435975161662],"direction":[0,1,0]},"limit":{"a":-0.09200000000000008,"b":0.05600000000000005,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":9,"name":"body","children":[]},{"id":10,"name":"neck","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/parts_render/0.png b/PartNetMobility/Bottle/4043/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..daed556077d405ce082fa0897e43584157312792
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:682c2c350b797e7eaf818e6f88b66507914c930a9e23e9483a275dd8dc12023c
+size 31041
diff --git a/PartNetMobility/Bottle/4043/parts_render/0.txt b/PartNetMobility/Bottle/4043/parts_render/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b5c125c2cb61462ff794f159c91f1caac02d56a
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/0.txt
@@ -0,0 +1 @@
+0 bottle Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/parts_render/1.png b/PartNetMobility/Bottle/4043/parts_render/1.png
new file mode 100644
index 0000000000000000000000000000000000000000..daed556077d405ce082fa0897e43584157312792
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 31041
diff --git a/PartNetMobility/Bottle/4043/parts_render/1.txt b/PartNetMobility/Bottle/4043/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e85f51e35c857bb9bf1198c45e4c6f990d0dc75a
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/1.txt
@@ -0,0 +1 @@
+1 normal_bottle Normal Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/parts_render/10.png b/PartNetMobility/Bottle/4043/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..689bd609238394aac4d076a99afb0368ee6e821f
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b2f71e0724273526222e5e5f3a403363b21ed47e1e44b6d53aff16740207f06
+size 23111
diff --git a/PartNetMobility/Bottle/4043/parts_render/10.txt b/PartNetMobility/Bottle/4043/parts_render/10.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7dee7754298c26131888872ed433ead9ee1bb82
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/10.txt
@@ -0,0 +1 @@
+10 neck Neck
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/parts_render/11.png b/PartNetMobility/Bottle/4043/parts_render/11.png
new file mode 100644
index 0000000000000000000000000000000000000000..6612a439147c4e6e0bf1183864567fd80829a7b5
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/parts_render/11.png
@@ -0,0 +1,3 @@
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index 0000000000000000000000000000000000000000..fb7debf259cd44e3ff22422a0d2836c94e866eb6
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diff --git a/PartNetMobility/Bottle/4043/point_sample/pts_10000.pts b/PartNetMobility/Bottle/4043/point_sample/pts_10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..8b2a96a9e36fa4fe247a19963289649fbd39391c
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diff --git a/PartNetMobility/Bottle/4043/point_sample/pts_10000.txt b/PartNetMobility/Bottle/4043/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a96387c041fdf8cbd637712ad93f987c36149f38
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4043/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/4043/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa57e236c8574c989a9bf8f5efb6a6c3006beab2
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/4043/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/4043/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..59dc6962977ecad3b4e58e967015253ecfc2972c
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Bottle/4043/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/4043/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2373abcc908fced50bcf9091eb125754d72c674
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/4043/result.json b/PartNetMobility/Bottle/4043/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e556d66436ebe9091a69e444ae8800ae70b07fc
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-2"], "id": 9, "name": "body"}, {"text": "Neck", "objs": ["new-1"], "id": 10, "name": "neck"}, {"text": "Lid", "objs": ["original-3"], "id": 11, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/result_after_merging.json b/PartNetMobility/Bottle/4043/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..da01396dda69a97d4fbf134f72d2da0f90e3f750
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "bottle", "children": [{"name": "normal_bottle", "children": [{"name": "body", "text": "body", "objs": ["new-2"], "ori_id": 9, "id": 2}, {"name": "neck", "text": "neck", "objs": ["new-1"], "ori_id": 10, "id": 3}, {"name": "lid", "text": "lid", "objs": ["original-3"], "ori_id": 11, "id": 4}], "id": 1, "ori_id": 1, "text": "normal_bottle", "objs": ["new-2", "new-1", "original-3"]}], "id": 0, "ori_id": 0, "text": "bottle", "objs": ["new-2", "new-1", "original-3"]}]
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diff --git a/PartNetMobility/Bottle/4043/semantics.txt b/PartNetMobility/Bottle/4043/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/4043/textured_objs/new_1.mtl b/PartNetMobility/Bottle/4043/textured_objs/new_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..319144b80fed424d87408149811e01d80ed3b624
--- /dev/null
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+illum 4
+d 0.54
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
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diff --git a/PartNetMobility/Bottle/4043/textured_objs/new_1.obj b/PartNetMobility/Bottle/4043/textured_objs/new_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe15ef5a247410c78d1ece64442b108f92685aa6
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Bottle/4043/textured_objs/new_2.obj b/PartNetMobility/Bottle/4043/textured_objs/new_2.obj
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diff --git a/PartNetMobility/Bottle/4043/textured_objs/original_3.mtl b/PartNetMobility/Bottle/4043/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb75ed809c8fc1a9f62c391bc51a8e6343909fd3
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/textured_objs/original_3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/4043/textured_objs/original_3.obj b/PartNetMobility/Bottle/4043/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf10c6765c8c3ae338dee3b06a7b5cb2b43449b0
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/textured_objs/original_3.obj
@@ -0,0 +1,1108 @@
+# SSTK version 0.8.0
+# 3
+mtllib original_3.mtl
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diff --git a/PartNetMobility/Bottle/4043/tree_hier.html b/PartNetMobility/Bottle/4043/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..a16fd3499f67640646b472c32c0b89ee67aa0ba3
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>9 body Body</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 neck Neck</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 lid Lid</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4043/tree_hier_after_merging.html b/PartNetMobility/Bottle/4043/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/PartNetMobility/Bottle/4043/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4064/bounding_box.json b/PartNetMobility/Bottle/4064/bounding_box.json
new file mode 100644
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+{"model_id": "f0a5f6d2cf8fcb72c12d8e00a78db6e2", "anno_id": "4064", "user_id": "zhouwenxian", "time_in_sec": "88", "version": "3", "model_cat": "Bottle"}
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+<?xml version="1.0" ?>
+<robot name="partnet_f0a5f6d2cf8fcb72c12d8e00a78db6e2">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_7">
+			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.007005959241653967 0 0.007542109902568375"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.06400000000000006"/>
+	</joint>
+</robot>
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diff --git a/PartNetMobility/Bottle/4064/point_sample/ply_10000.ply b/PartNetMobility/Bottle/4064/point_sample/ply_10000.ply
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diff --git a/PartNetMobility/Bottle/4064/point_sample/pts_10000.txt b/PartNetMobility/Bottle/4064/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e0bd1a6336e0cfc13fc8398263004d5ab98899a
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diff --git a/PartNetMobility/Bottle/4064/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/4064/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cff66ce20a57f584184c33e1f79053b947d017a2
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/4064/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/4064/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..fcff361c0695483cb88cd018c9bf2016747d0d45
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Bottle/4064/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/4064/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..12091d05d9f27dccb98bdb481002f6af4ea78a8c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/point_sample/sample_points_all_pts_nor_rgba_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/4064/result.json b/PartNetMobility/Bottle/4064/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..874bfe32f7eb0e54051f7ce055d2776c59f0028e
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["original-4", "original-3", "original-8", "original-6", "original-2"], "id": 5, "name": "body"}, {"text": "Neck", "objs": ["original-5"], "id": 6, "name": "neck"}, {"text": "Lid", "objs": ["original-7"], "id": 7, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4064/result_after_merging.json b/PartNetMobility/Bottle/4064/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae45dc0a3120ac94daa708226c3be59a59e4ed2c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "bottle", "name": "bottle", "ori_id": 0, "id": 0, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2", "original-5", "original-7"], "children": [{"text": "normal_bottle", "name": "normal_bottle", "ori_id": 1, "id": 1, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2", "original-5", "original-7"], "children": [{"ori_id": 5, "objs": ["original-4", "original-3", "original-8", "original-6", "original-2"], "text": "body", "id": 2, "name": "body"}, {"ori_id": 6, "objs": ["original-5"], "text": "neck", "id": 3, "name": "neck"}, {"ori_id": 7, "objs": ["original-7"], "text": "lid", "id": 4, "name": "lid"}]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4064/semantics.txt b/PartNetMobility/Bottle/4064/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_2.mtl b/PartNetMobility/Bottle/4064/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_2.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_2.obj b/PartNetMobility/Bottle/4064/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f9fb6ecdd561be4e552b0f6d31aa468cae48d95
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_2.obj
@@ -0,0 +1,6460 @@
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+# 2
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_3.mtl b/PartNetMobility/Bottle/4064/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_3.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_3.obj b/PartNetMobility/Bottle/4064/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51f20a7c53caa8d40446041aec84396d6c98eb90
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_3.obj
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_4.mtl b/PartNetMobility/Bottle/4064/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_4.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_4.obj b/PartNetMobility/Bottle/4064/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445ec18841d9dbed0ad4fd37ddd9e28277ef8dcc
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_4.obj
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_5.obj b/PartNetMobility/Bottle/4064/textured_objs/original_5.obj
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index 0000000000000000000000000000000000000000..1e57880df986cc753bfe39adbafe1eb33b1c0845
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_6.mtl b/PartNetMobility/Bottle/4064/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d19d1b103f4e1ad77342c852856427a4fcc31d1c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_6.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.5
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_6.obj b/PartNetMobility/Bottle/4064/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26821d3ab57553f5d5c0af1c2de4aa424dd031ce
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_7.mtl b/PartNetMobility/Bottle/4064/textured_objs/original_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c44d0d538b4f7d628a51c09525192edb544f7d1c
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.19215686274509805 0.19215686274509805 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/4064/textured_objs/original_7.obj b/PartNetMobility/Bottle/4064/textured_objs/original_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f92af9b3a07b026b29e0cfe78fcf01182e45e1ad
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/textured_objs/original_7.obj
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diff --git a/PartNetMobility/Bottle/4064/tree_hier.html b/PartNetMobility/Bottle/4064/tree_hier.html
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+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>5 body Body</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 neck Neck</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 lid Lid</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4064/tree_hier_after_merging.html b/PartNetMobility/Bottle/4064/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/PartNetMobility/Bottle/4064/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/bounding_box.json b/PartNetMobility/Bottle/4084/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/4084/bounding_box.json
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+{"min": [-0.572473, -0.851299, -0.584472], "max": [0.567891, 0.771836, 0.555892]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/images/texture_0.jpg b/PartNetMobility/Bottle/4084/images/texture_0.jpg
new file mode 100644
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+++ b/PartNetMobility/Bottle/4084/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95fd7fa13f03ef60c3aef18827c0d6837d963056afddb69c4f9798c2f8664db0
+size 7784
diff --git a/PartNetMobility/Bottle/4084/meta.json b/PartNetMobility/Bottle/4084/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9fefcc70aa591cc63ff793164330b04b37df0ad
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/meta.json
@@ -0,0 +1 @@
+{"model_id": "fdc47f5f8dff184830eaaf40a8a562c1", "anno_id": "4084", "user_id": "xiangchaoqun", "time_in_sec": "331", "version": "5", "model_cat": "Bottle"}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/mobility.urdf b/PartNetMobility/Bottle/4084/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..53d042d3d844518d18ef5b1f959ce6b18f03cc8c
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/mobility.urdf
@@ -0,0 +1,135 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fdc47f5f8dff184830eaaf40a8a562c1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_19">
+			<origin xyz="0.002291089456653725 0 0.014289999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002291089456653725 0 0.014289999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body_13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck_14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf_18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.002291089456653725 0 -0.014289999999999997"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.06400000000000006" upper="0.2639999999999998"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/4084/mobility_v2.json b/PartNetMobility/Bottle/4084/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d8b146751f44ad55f49d450a6e2cc2ecc737ef
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":19,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[-0.002291089456653725,0,-0.014289999999999997],"direction":[0,1,0]},"limit":{"a":-0.06400000000000006,"b":0.2639999999999998,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"body","parts":[{"id":13,"name":"body","children":[]},{"id":14,"name":"neck","children":[]},{"id":18,"name":"other_leaf","children":[]}],"jointData":{}}]
\ No newline at end of file
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new file mode 100644
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+++ b/PartNetMobility/Bottle/4084/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+0 bottle Bottle
\ No newline at end of file
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+++ b/PartNetMobility/Bottle/4084/parts_render/1.txt
@@ -0,0 +1 @@
+1 normal_bottle Normal Bottle
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/parts_render/13.png b/PartNetMobility/Bottle/4084/parts_render/13.png
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@@ -0,0 +1 @@
+13 body Body
\ No newline at end of file
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\ No newline at end of file
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+16 containing_things Stuff contained
\ No newline at end of file
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+17 other pills (other)
\ No newline at end of file
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+18 other_leaf other_leaf
\ No newline at end of file
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\ No newline at end of file
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diff --git a/PartNetMobility/Bottle/4084/parts_render_after_merging/4.txt b/PartNetMobility/Bottle/4084/parts_render_after_merging/4.txt
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index 0000000000000000000000000000000000000000..5c085e9786078c377bbe82c6d6938c60351a9ada
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/parts_render_after_merging/4.txt
@@ -0,0 +1 @@
+4 lid lid
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/point_sample/label_10000.txt b/PartNetMobility/Bottle/4084/point_sample/label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ad7bf3e3fa249257a13836e44baf4bbfe259ef8
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/point_sample/label_10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/PartNetMobility/Bottle/4084/point_sample/ply_10000.ply b/PartNetMobility/Bottle/4084/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..87633abdd80f1d20706de3789b0b9a607ee2d118
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/point_sample/ply_10000.ply
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+ply
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diff --git a/PartNetMobility/Bottle/4084/point_sample/pts_10000.txt b/PartNetMobility/Bottle/4084/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bfcfc3bd68c58ef4a8ca6ecbee610966146afae3
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4084/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..89fbf8b7a8d833915c11a75452f7fef7fb345f36
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..982d17000ae7e101745dae201fbdffcf9a0aa7f1
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_label_10000.ply
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new file mode 100644
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diff --git a/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..51a5c15e0e414f97049ee1ed87a28716648ea88f
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Bottle/4084/result.json b/PartNetMobility/Bottle/4084/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b452b80692332e8c8a4b53a6bdf4c2340a032ac
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/result.json
@@ -0,0 +1 @@
+[{"text": "Bottle", "children": [{"text": "Normal Bottle", "children": [{"text": "Body", "objs": ["new-1"], "id": 13, "name": "body"}, {"text": "Neck", "objs": ["new-3"], "id": 14, "name": "neck"}, {"text": "Stuff contained", "children": [{"text": "pills (other)", "children": [{"text": "other_leaf", "objs": ["original-4", "original-39", "original-18", "original-32", "original-25", "original-11"], "id": 18, "name": "other_leaf"}], "id": 17, "name": "other"}], "id": 16, "name": "containing_things"}, {"text": "Lid", "objs": ["original-1"], "id": 19, "name": "lid"}], "id": 1, "name": "normal_bottle"}], "id": 0, "name": "bottle"}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/result_after_merging.json b/PartNetMobility/Bottle/4084/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..bba35699f239448ce3405b8c1b468ee046e622c8
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["new-1", "new-3", "original-4", "original-39", "original-18", "original-32", "original-25", "original-11", "original-1"], "ori_id": 0, "children": [{"objs": ["new-1", "new-3", "original-4", "original-39", "original-18", "original-32", "original-25", "original-11", "original-1"], "ori_id": 1, "children": [{"objs": ["new-1"], "id": 2, "name": "body", "text": "body", "ori_id": 13}, {"objs": ["new-3"], "id": 3, "name": "neck", "text": "neck", "ori_id": 14}, {"objs": ["original-1"], "id": 4, "name": "lid", "text": "lid", "ori_id": 19}], "text": "normal_bottle", "name": "normal_bottle", "id": 1}], "text": "bottle", "name": "bottle", "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/semantics.txt b/PartNetMobility/Bottle/4084/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..699a99749dcced963f57a004018c005e623c99a8
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ rotation_lid
+link_1 free bottle_body
diff --git a/PartNetMobility/Bottle/4084/textured_objs/new_1.mtl b/PartNetMobility/Bottle/4084/textured_objs/new_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd92c462046f181e7f40552a8e9c40a118b97d1
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/new_1.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 4
+d 0.79
+Ns 30
+Kd 1 0.3411764705882353 0.07450980392156863 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/new_1.obj b/PartNetMobility/Bottle/4084/textured_objs/new_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e14c6f941b41b75787808a093118952b76b2df8
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/new_3.mtl b/PartNetMobility/Bottle/4084/textured_objs/new_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcd92c462046f181e7f40552a8e9c40a118b97d1
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/new_3.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/new_3.obj b/PartNetMobility/Bottle/4084/textured_objs/new_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4138792e0bc3ab977f7237d2ab0e65d72ed39cb
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_1.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_1.obj b/PartNetMobility/Bottle/4084/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e23d95c91edea038773e5d7215dd80545c4f6cf3
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_11.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_11.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/PartNetMobility/Bottle/4084/textured_objs/original_11.obj b/PartNetMobility/Bottle/4084/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd60bb3929f1b7be777bb5d5b97bb90a4795806c
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_11.obj
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_18.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_18.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/PartNetMobility/Bottle/4084/textured_objs/original_18.obj b/PartNetMobility/Bottle/4084/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f29ab4339e834498ac59d6a39ffa637400584a0
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_18.obj
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_25.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_25.obj b/PartNetMobility/Bottle/4084/textured_objs/original_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80fb5a09fee501c2c21b8f9f8522a11da51edbd3
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_25.obj
@@ -0,0 +1,853 @@
+# SSTK version 0.8.0
+# 25
+mtllib original_25.mtl
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_32.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_32.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/PartNetMobility/Bottle/4084/textured_objs/original_32.obj b/PartNetMobility/Bottle/4084/textured_objs/original_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61148e611cdcd43caba087a17573151ca39d2580
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_32.obj
@@ -0,0 +1,853 @@
+# SSTK version 0.8.0
+# 32
+mtllib original_32.mtl
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_39.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_39.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/PartNetMobility/Bottle/4084/textured_objs/original_39.obj b/PartNetMobility/Bottle/4084/textured_objs/original_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ac48f3022c8e19301cc7d4eb8690ff00500faf0
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_39.obj
@@ -0,0 +1,853 @@
+# SSTK version 0.8.0
+# 39
+mtllib original_39.mtl
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diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_4.mtl b/PartNetMobility/Bottle/4084/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Bottle/4084/textured_objs/original_4.obj b/PartNetMobility/Bottle/4084/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..caecd9ca1c5a203c079d21fbe86179e62dc4eab6
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/textured_objs/original_4.obj
@@ -0,0 +1,853 @@
+# SSTK version 0.8.0
+# 4
+mtllib original_4.mtl
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diff --git a/PartNetMobility/Bottle/4084/tree_hier.html b/PartNetMobility/Bottle/4084/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..da49f36099113e50adbd8273adb74cda1fc037cc
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>13 body Body</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 neck Neck</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>16 containing_things Stuff contained</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>19 lid Lid</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td><p>17 other pills (other)</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td><p>18 other_leaf other_leaf</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4084/tree_hier_after_merging.html b/PartNetMobility/Bottle/4084/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..aaeb1bb60cad799261049c5a07aec64b6142e32b
--- /dev/null
+++ b/PartNetMobility/Bottle/4084/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle bottle</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle normal_bottle</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 body body</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 neck neck</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 lid lid</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/bounding_box.json b/PartNetMobility/Bottle/4118/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..fed3ab6763b78e7985750ce6d256a188c74237da
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.564642, -0.899873, -0.574938], "max": [0.568985, 0.772348, 0.55869]}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/meta.json b/PartNetMobility/Bottle/4118/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1610895121f8c1babd1a3a69ab5ce4c7da0c6bbb
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/meta.json
@@ -0,0 +1 @@
+{"model_id":"aea1a8fee02c011db8183a4a81361b94","anno_id":"4118","user_id":"xiangchaoqun","time_in_sec":"104","version":"2","model_cat":"Bottle","original_model_cat":"Vase"}
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/mobility.urdf b/PartNetMobility/Bottle/4118/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d520a006696eb72a76e6c2e95b9ab17318f2b
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/mobility.urdf
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<robot name="partnet_aea1a8fee02c011db8183a4a81361b94">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid_4">
+			<origin xyz="-0.0021714806863521313 0 0.008123665633523007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0021714806863521313 0 0.008123665633523007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="container_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="bottom_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.0021714806863521313 0 -0.008123665633523007"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.02400000000000002" upper="0.016000000000000014"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Bottle/4118/mobility_v2.json b/PartNetMobility/Bottle/4118/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cea7cc8f65eefa178090c948a521affbf3e5d5c
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":4,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.0021714806863521313,0,-0.008123665633523007],"direction":[0,1,0]},"limit":{"a":-0.02400000000000002,"b":0.016000000000000014,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"free","name":"container","parts":[{"id":2,"name":"container","children":[]},{"id":3,"name":"bottom","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/parts_render/0.png b/PartNetMobility/Bottle/4118/parts_render/0.png
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/4118/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11a5834973fa7197d9951091d69dea992d8f8a7a60f502f69bc2169c0c55452
+size 28955
diff --git a/PartNetMobility/Bottle/4118/parts_render/0.txt b/PartNetMobility/Bottle/4118/parts_render/0.txt
new file mode 100644
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+++ b/PartNetMobility/Bottle/4118/parts_render/0.txt
@@ -0,0 +1 @@
+0 pot Pot
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/parts_render/1.png b/PartNetMobility/Bottle/4118/parts_render/1.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/PartNetMobility/Bottle/4118/parts_render/1.txt b/PartNetMobility/Bottle/4118/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Bottle/4118/parts_render/1.txt
@@ -0,0 +1 @@
+1 body Pot Body
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/parts_render/2.png b/PartNetMobility/Bottle/4118/parts_render/2.png
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diff --git a/PartNetMobility/Bottle/4118/parts_render/2.txt b/PartNetMobility/Bottle/4118/parts_render/2.txt
new file mode 100644
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+++ b/PartNetMobility/Bottle/4118/parts_render/2.txt
@@ -0,0 +1 @@
+2 container Container
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/parts_render/3.png b/PartNetMobility/Bottle/4118/parts_render/3.png
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/PartNetMobility/Bottle/4118/parts_render/3.txt b/PartNetMobility/Bottle/4118/parts_render/3.txt
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@@ -0,0 +1 @@
+3 bottom Bottom
\ No newline at end of file
diff --git a/PartNetMobility/Bottle/4118/parts_render/4.png b/PartNetMobility/Bottle/4118/parts_render/4.png
new file mode 100644
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diff --git a/PartNetMobility/Bottle/4118/point_sample/ply_10000.ply b/PartNetMobility/Bottle/4118/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b060e2116ff6555786f56f0cac2022c5f4537baa
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4118/point_sample/pts_10000.txt b/PartNetMobility/Bottle/4118/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5da66fef216bff00c21a0c4e8abcf682bf49de2c
--- /dev/null
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diff --git a/PartNetMobility/Bottle/4118/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Bottle/4118/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a3fd4178cc3ca7fdeca4349ea821ecc88df8996a
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Bottle/4118/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Bottle/4118/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..70c97c171f081f515716a93d8fcd76c5667851e1
--- /dev/null
+++ b/PartNetMobility/Bottle/4118/point_sample/sample_points_all_pts_label_10000.ply
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