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new file mode 100644
index 0000000000000000000000000000000000000000..c6c83794d6c0093691b2c8f1240d1efbd8aa2220
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diff --git a/PartNetMobility/Chair/39628/point_sample/pts_10000.txt b/PartNetMobility/Chair/39628/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..664674f9b8aae21501c1562d1c01d6049a8187a2
--- /dev/null
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diff --git a/PartNetMobility/Chair/39628/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Chair/39628/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6909471a4029a3721051b70b4652cf8565da138e
--- /dev/null
+++ b/PartNetMobility/Chair/39628/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Chair/39628/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Chair/39628/point_sample/sample_points_all_pts_label_10000.ply
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index 0000000000000000000000000000000000000000..f2f420c5550022733d13e7e8f624db849cc8edf0
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Chair/39628/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Chair/39628/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b3c914177f5d14c92f4ba967a08e394a84c7365d
--- /dev/null
+++ b/PartNetMobility/Chair/39628/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Chair/39628/result.json b/PartNetMobility/Chair/39628/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8824a0fd15af3e66d47cb6416aa38e2b8fc4bfd
--- /dev/null
+++ b/PartNetMobility/Chair/39628/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-9"], "id": 36, "name": "back_hard_surface"}], "id": 29, "name": "back_surface"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-6"], "id": 33, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-7"], "id": 34, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Horizontal Bar", "objs": ["new-8"], "id": 35, "name": "back_frame_horizontal_bar"}], "id": 30, "name": "back_frame"}, {"text": "Back Connector", "objs": ["new-5"], "id": 31, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-4"], "id": 32, "name": "back_connector"}], "id": 1, "name": "chair_back"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-29", "original-31", "original-32", "original-26", "original-27", "original-28", "original-30", "original-25"], "id": 37, "name": "seat_hard_surface"}], "id": 26, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-24"], "id": 27, "name": "seat_support"}], "id": 2, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Regular Leg Base", "children": [{"text": "Leg", "objs": ["original-21", "original-20"], "id": 6, "name": "leg"}, {"text": "Leg", "objs": ["original-19"], "id": 7, "name": "leg"}, {"text": "Leg", "objs": ["original-18"], "id": 8, "name": "leg"}, {"text": "Leg", "objs": ["original-22", "original-8", "original-23"], "id": 9, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-7"], "id": 23, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-5"], "id": 24, "name": "wheel"}, {"text": "Wheel", "objs": ["original-6"], "id": 25, "name": "wheel"}], "id": 10, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-12"], "id": 20, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-14"], "id": 21, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 22, "name": "wheel"}], "id": 11, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-16"], "id": 17, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-15"], "id": 18, "name": "wheel"}, {"text": "Wheel", "objs": ["original-17"], "id": 19, "name": "wheel"}], "id": 12, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-9"], "id": 14, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-11"], "id": 15, "name": "wheel"}, {"text": "Wheel", "objs": ["original-10"], "id": 16, "name": "wheel"}], "id": 13, "name": "caster"}], "id": 5, "name": "regular_leg_base"}], "id": 3, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39628/result_after_merging.json b/PartNetMobility/Chair/39628/result_after_merging.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Chair/39628/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PartNetMobility/Chair/39628/semantics.txt b/PartNetMobility/Chair/39628/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d41cbe6bddfcda5b32139d1423bf974dd5f120c1
--- /dev/null
+++ b/PartNetMobility/Chair/39628/semantics.txt
@@ -0,0 +1,13 @@
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_4.mtl b/PartNetMobility/Chair/39628/textured_objs/new_4.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_4.obj b/PartNetMobility/Chair/39628/textured_objs/new_4.obj
new file mode 100644
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new file mode 100644
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_6.mtl b/PartNetMobility/Chair/39628/textured_objs/new_6.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_6.obj b/PartNetMobility/Chair/39628/textured_objs/new_6.obj
new file mode 100644
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index 0000000000000000000000000000000000000000..97851f6f99512cb25bbe854db20e962596538195
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_7.obj b/PartNetMobility/Chair/39628/textured_objs/new_7.obj
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_8.mtl b/PartNetMobility/Chair/39628/textured_objs/new_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97851f6f99512cb25bbe854db20e962596538195
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_8.obj b/PartNetMobility/Chair/39628/textured_objs/new_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da27f7686e328f6cd6d6d112102f69a451547bdd
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_9.mtl b/PartNetMobility/Chair/39628/textured_objs/new_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97851f6f99512cb25bbe854db20e962596538195
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diff --git a/PartNetMobility/Chair/39628/textured_objs/new_9.obj b/PartNetMobility/Chair/39628/textured_objs/new_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5651116239a3193d953d400410fd63c718200c77
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\ No newline at end of file
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_10.mtl b/PartNetMobility/Chair/39628/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_10.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/Chair/39628/textured_objs/original_10.obj b/PartNetMobility/Chair/39628/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2db576b6f4e381aeedb8735649a1d206f3c62e4e
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_10.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
+v -0.457116 -0.730562 -0.301599
+v -0.455230 -0.741315 -0.232454
+v -0.453881 -0.753677 -0.282912
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+v -0.435964 -0.749251 -0.290680
+v -0.435972 -0.706516 -0.226912
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+v -0.436435 -0.681017 -0.288210
+v -0.452257 -0.681230 -0.283170
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+vn -0.10245199362210747 0.3604759775594699 -0.9271249422841563
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+vn -0.016101007285755746 -0.9995924523186858 0.023573010666860458
+vn 0.016101007285755746 0.9995924523186858 -0.023573010666860458
+vn 0.06212602593324135 0.9980564166182778 0.004873002034135226
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+vn -0.9469152079473371 0.28082906167147287 -0.15648203436424094
+vn 0.04938400717290411 -0.5379450781351834 0.8415321222304458
+vn -0.04938400717290411 0.5379450781351834 -0.8415321222304458
+vn 0.029970995454284482 -0.9981998486025414 0.051949992120719324
+vn -0.029970995454284482 0.9981998486025414 -0.051949992120719324
+vn 0.24272488703222297 -0.6328727054516183 0.7352256578150301
+vn -0.24272488703222297 0.6328727054516183 -0.7352256578150301
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
+f 1//6 2//5 4//8
+f 2//9 5//9 3//10
+f 3//11 5//12 2//12
+f 6//13 1//14 3//15
+f 3//16 1//17 6//18
+f 7//19 2//19 4//20
+f 4//21 2//22 7//22
+f 8//23 4//7 1//1
+f 1//6 4//8 8//24
+f 9//25 5//9 2//9
+f 2//12 5//12 9//26
+f 5//27 6//13 3//15
+f 3//16 6//18 5//28
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+f 10//29 12//41 1//14
+f 1//17 12//42 10//30
+f 11//43 8//44 13//44
+f 13//45 8//45 11//46
+f 8//23 12//39 14//47
+f 14//48 12//40 8//24
+f 10//29 13//49 12//41
+f 12//42 13//50 10//30
+f 8//44 14//51 13//44
+f 13//45 14//52 8//45
+f 13//49 14//53 12//41
+f 12//42 14//54 13//50
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_11.mtl b/PartNetMobility/Chair/39628/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/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/Chair/39628/textured_objs/original_11.obj b/PartNetMobility/Chair/39628/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6698495804c0c524636d06930b635a9cc533b8da
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_11.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
+v -0.376754 -0.730559 -0.301603
+v -0.378639 -0.741314 -0.232454
+v -0.379990 -0.753678 -0.282912
+v -0.378298 -0.702288 -0.228821
+v -0.397884 -0.757307 -0.258871
+v -0.397905 -0.749251 -0.290680
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+v -0.397898 -0.739109 -0.231691
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+v -0.377700 -0.705194 -0.302509
+v -0.397435 -0.681016 -0.288206
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+vn -0.04925797838604715 -0.538002763929281 0.8415026307563003
+vn 0.030018990850243007 0.9982006957494727 -0.05190598417911035
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+vn 0.24258603134454315 0.6329300817809012 -0.7352220949980531
+vn -0.24258603134454315 -0.6329300817809012 0.7352220949980531
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
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+f 2//9 5//9 3//10
+f 3//11 5//12 2//12
+f 1//13 3//14 6//15
+f 6//16 3//17 1//18
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+f 2//21 7//21 4//22
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+f 9//25 5//9 2//9
+f 2//12 5//12 9//26
+f 5//27 6//15 3//14
+f 3//17 6//16 5//28
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+f 11//34 8//38 4//34
+f 8//23 1//1 12//39
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+f 12//42 10//30 1//18
+f 11//43 8//44 13//44
+f 13//45 8//45 11//46
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+f 14//48 12//40 8//24
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_12.mtl b/PartNetMobility/Chair/39628/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_12.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/Chair/39628/textured_objs/original_12.obj b/PartNetMobility/Chair/39628/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a56f82809a26389775f7b9778ddc33de741e4f47
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_12.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 12
+mtllib original_12.mtl
+o mesh12/mesh12-geometry#mesh12-geometry
+v 0.366045 -0.726140 0.486672
+v 0.306101 -0.701395 0.490315
+v 0.364791 -0.688596 0.497599
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+usemtl material_0_0
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+f 5//10 6//12 7//14
+f 8//15 6//11 7//13
+f 7//14 6//12 8//16
+f 9//17 8//15 7//13
+f 7//14 8//16 9//18
+f 10//19 8//15 9//17
+f 9//18 8//16 10//20
+f 10//19 11//21 9//17
+f 9//18 11//22 10//20
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_13.mtl b/PartNetMobility/Chair/39628/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_13.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/Chair/39628/textured_objs/original_13.obj b/PartNetMobility/Chair/39628/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d97283f3291291e523ac2f82f570154d82c49ee
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_13.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 13
+mtllib original_13.mtl
+o mesh13/mesh13-geometry#mesh13-geometry
+v 0.375334 -0.750185 0.557155
+v 0.354497 -0.757307 0.542122
+v 0.372966 -0.753826 0.515946
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_14.mtl b/PartNetMobility/Chair/39628/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_14.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/Chair/39628/textured_objs/original_14.obj b/PartNetMobility/Chair/39628/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efab9466b86ff44cd479a3e71f553484942d39c
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_14.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 14
+mtllib original_14.mtl
+o mesh14/mesh14-geometry#mesh14-geometry
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_15.mtl b/PartNetMobility/Chair/39628/textured_objs/original_15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_15.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/Chair/39628/textured_objs/original_15.obj b/PartNetMobility/Chair/39628/textured_objs/original_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5570646694762fc7a7a73ec4176e325be0c703fc
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_15.obj
@@ -0,0 +1,102 @@
+# SSTK version 0.8.0
+# 15
+mtllib original_15.mtl
+o mesh15/mesh15-geometry#mesh15-geometry
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_16.mtl b/PartNetMobility/Chair/39628/textured_objs/original_16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_16.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/Chair/39628/textured_objs/original_16.obj b/PartNetMobility/Chair/39628/textured_objs/original_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62ea987d53ef2b7c8c9ff47524f7165efdc03cc0
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_16.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 16
+mtllib original_16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_17.mtl b/PartNetMobility/Chair/39628/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_17.obj b/PartNetMobility/Chair/39628/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfd677bb3dd93eb3a03e9b9349757547d8d1e826
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_17.obj
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+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_18.mtl b/PartNetMobility/Chair/39628/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_18.obj b/PartNetMobility/Chair/39628/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..398a43f98e045b1150fd2edb526606ad521666de
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_18.obj
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_19.mtl b/PartNetMobility/Chair/39628/textured_objs/original_19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_19.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_19.obj b/PartNetMobility/Chair/39628/textured_objs/original_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228d3fd301accebd349c78d700eabb867b41ecad
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_19.obj
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_20.mtl b/PartNetMobility/Chair/39628/textured_objs/original_20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_20.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/Chair/39628/textured_objs/original_20.obj b/PartNetMobility/Chair/39628/textured_objs/original_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78150f77617a95d2bc1591f085d3e0b04795e4f9
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_20.obj
@@ -0,0 +1,238 @@
+# SSTK version 0.8.0
+# 20
+mtllib original_20.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_21.mtl b/PartNetMobility/Chair/39628/textured_objs/original_21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_21.obj b/PartNetMobility/Chair/39628/textured_objs/original_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65a515870d3543e306863e3095e677f9b0781676
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_21.obj
@@ -0,0 +1,155 @@
+# SSTK version 0.8.0
+# 21
+mtllib original_21.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_22.mtl b/PartNetMobility/Chair/39628/textured_objs/original_22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_22.obj b/PartNetMobility/Chair/39628/textured_objs/original_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55a7aeaecfc9faba5242ab3e153747f5d83c9f6
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_22.obj
@@ -0,0 +1,238 @@
+# SSTK version 0.8.0
+# 22
+mtllib original_22.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_23.mtl b/PartNetMobility/Chair/39628/textured_objs/original_23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_23.obj b/PartNetMobility/Chair/39628/textured_objs/original_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420743012f6ac9954f8c2534a3befd909f555a8c
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_23.obj
@@ -0,0 +1,155 @@
+# SSTK version 0.8.0
+# 23
+mtllib original_23.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_24.mtl b/PartNetMobility/Chair/39628/textured_objs/original_24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_24.obj b/PartNetMobility/Chair/39628/textured_objs/original_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c30aecc466eb4424db73be389d212dc0fc9cdbc
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_24.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 24
+mtllib original_24.mtl
+o mesh24/mesh24-geometry#mesh24-geometry
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_25.mtl b/PartNetMobility/Chair/39628/textured_objs/original_25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_25.obj b/PartNetMobility/Chair/39628/textured_objs/original_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e9ed0586d532c30b1b989c2ae21572cf1db8688
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_25.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 25
+mtllib original_25.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_26.mtl b/PartNetMobility/Chair/39628/textured_objs/original_26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_26.obj b/PartNetMobility/Chair/39628/textured_objs/original_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff99270ead8a101a2a3b5227a9fa5cd19201aa20
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_26.obj
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+# SSTK version 0.8.0
+# 26
+mtllib original_26.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_27.mtl b/PartNetMobility/Chair/39628/textured_objs/original_27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_27.obj b/PartNetMobility/Chair/39628/textured_objs/original_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e385e16524626f1552e67eabae08a464ba5ce2a3
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_27.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 27
+mtllib original_27.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_28.mtl b/PartNetMobility/Chair/39628/textured_objs/original_28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_28.obj b/PartNetMobility/Chair/39628/textured_objs/original_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f3119a5b88f52565918cf0727ac15b1a0cf58fa
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_28.obj
@@ -0,0 +1,96 @@
+# SSTK version 0.8.0
+# 28
+mtllib original_28.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_29.mtl b/PartNetMobility/Chair/39628/textured_objs/original_29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_29.obj b/PartNetMobility/Chair/39628/textured_objs/original_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9d98929c95c9f83cd6ad4170a9a5196b749b899
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_29.obj
@@ -0,0 +1,249 @@
+# SSTK version 0.8.0
+# 29
+mtllib original_29.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_30.mtl b/PartNetMobility/Chair/39628/textured_objs/original_30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_30.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/Chair/39628/textured_objs/original_30.obj b/PartNetMobility/Chair/39628/textured_objs/original_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..675edb4135c9dfab975d291a6c487486ce186070
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_30.obj
@@ -0,0 +1,105 @@
+# SSTK version 0.8.0
+# 30
+mtllib original_30.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_31.mtl b/PartNetMobility/Chair/39628/textured_objs/original_31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_31.obj b/PartNetMobility/Chair/39628/textured_objs/original_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a1700e26fb5381c85ad263135ca81b60405b671
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_31.obj
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_32.mtl b/PartNetMobility/Chair/39628/textured_objs/original_32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_32.obj b/PartNetMobility/Chair/39628/textured_objs/original_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b42abc97fbb23a60506e3e01efc59d7783bc5bc7
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_32.obj
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+# SSTK version 0.8.0
+# 32
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_5.mtl b/PartNetMobility/Chair/39628/textured_objs/original_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_5.obj b/PartNetMobility/Chair/39628/textured_objs/original_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7944dac6d25a79fd80514c3a7eab598a35f51ef0
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_5.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 5
+mtllib original_5.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_6.mtl b/PartNetMobility/Chair/39628/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_6.obj b/PartNetMobility/Chair/39628/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a73453a3fd5469d36f1ce4157d70abf8241297fe
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_6.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 6
+mtllib original_6.mtl
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_7.mtl b/PartNetMobility/Chair/39628/textured_objs/original_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39628/textured_objs/original_7.obj b/PartNetMobility/Chair/39628/textured_objs/original_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..744b0f1a7dfc00db97462e2fc71d15d813fd2f2b
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_7.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 7
+mtllib original_7.mtl
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+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
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+f 5//9 3//3 1//1
+f 1//6 3//4 5//10
+f 3//3 5//9 6//11
+f 6//12 5//10 3//4
+f 5//13 7//14 6//15
+f 6//16 7//17 5//18
+f 6//15 7//14 8//19
+f 8//20 7//17 6//16
+f 7//14 9//21 8//19
+f 8//20 9//22 7//17
+f 9//21 10//23 8//19
+f 8//20 10//24 9//22
+f 9//21 10//23 11//25
+f 11//26 10//24 9//22
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_8.mtl b/PartNetMobility/Chair/39628/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_8.obj b/PartNetMobility/Chair/39628/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c40f0de61581e967f37556a07a2453a6db321341
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_8.obj
@@ -0,0 +1,65 @@
+# SSTK version 0.8.0
+# 8
+mtllib original_8.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
+v 0.429731 -0.653133 -0.303001
+v 0.429731 -0.683754 -0.290229
+v 0.425372 -0.683754 -0.310551
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+v 0.414308 -0.653133 -0.316937
+v 0.414308 -0.683754 -0.276296
+v 0.405598 -0.683754 -0.316937
+v 0.405598 -0.653133 -0.276296
+v 0.394534 -0.653133 -0.310551
+v 0.394534 -0.683754 -0.282682
+v 0.390175 -0.683754 -0.303001
+v 0.390175 -0.653133 -0.290229
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+vn 0.9618142642580245 -0.03202400879858161 0.2718230746832641
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+vn -0.9618142642580245 0.03202400879858161 -0.2718230746832641
+vn -0.9618332305312545 -0.032057007683392466 0.271752065133271
+vn 0.7161922032432009 0.03204100909269497 0.697167197844227
+vn -0.7161922032432009 -0.03204100909269497 -0.697167197844227
+vn 0.2455619805336887 0.032049997459316686 -0.9688509231967684
+vn -0.2455619805336887 -0.032049997459316686 0.9688509231967684
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+vn -0.2455619805336887 -0.032049997459316686 -0.9688509231967684
+vn 0.2455619805336887 0.032049997459316686 0.9688509231967684
+vn -0.2455179595113911 0.032026994718396706 0.9688628402238734
+vn 0.2455179595113911 -0.032026994718396706 -0.9688628402238734
+vn -0.7162387042181864 0.03201298677974364 -0.697120712113256
+vn 0.7162387042181864 -0.03201298677974364 0.697120712113256
+vn -0.7161922032432009 -0.03204100909269497 0.697167197844227
+vn 0.7161922032432009 0.03204100909269497 -0.697167197844227
+vn -0.9618332305312545 -0.032057007683392466 -0.271752065133271
+vn 0.9618332305312545 0.032057007683392466 0.271752065133271
+vn -0.9618142642580245 0.03202400879858161 0.2718230746832641
+vn 0.9618142642580245 -0.03202400879858161 -0.2718230746832641
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 4//7 2//2 1//1
+f 1//6 2//5 4//8
+f 1//1 3//3 5//9
+f 5//10 3//4 1//6
+f 2//2 4//7 6//11
+f 6//12 4//8 2//5
+f 3//3 7//13 5//9
+f 5//10 7//14 3//4
+f 4//7 8//15 6//11
+f 6//12 8//16 4//8
+f 5//9 7//13 9//17
+f 9//18 7//14 5//10
+f 6//11 8//15 10//19
+f 10//20 8//16 6//12
+f 7//13 11//21 9//17
+f 9//18 11//22 7//14
+f 8//15 12//23 10//19
+f 10//20 12//24 8//16
+f 9//17 11//21 12//23
+f 12//24 11//22 9//18
+f 12//23 11//21 10//19
+f 10//20 11//22 12//24
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_9.mtl b/PartNetMobility/Chair/39628/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/39628/textured_objs/original_9.obj b/PartNetMobility/Chair/39628/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f99bae816759c55f553b9b5952258b5f29ef841
--- /dev/null
+++ b/PartNetMobility/Chair/39628/textured_objs/original_9.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 9
+mtllib original_9.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
+v -0.387590 -0.677051 -0.290567
+v -0.445613 -0.699050 -0.310454
+v -0.387590 -0.701390 -0.310672
+v -0.446282 -0.675790 -0.288383
+v -0.400419 -0.727558 -0.312638
+v -0.387638 -0.670160 -0.254780
+v -0.446624 -0.672259 -0.247468
+v -0.388370 -0.698729 -0.221710
+v -0.446282 -0.702217 -0.220444
+v -0.387590 -0.727563 -0.218975
+v -0.446282 -0.727563 -0.218975
+vn -0.008620999892440096 -0.8074039899264243 0.5899359926396637
+vn -0.008379995638108656 -0.9286075166483058 0.37096880690614914
+vn -0.03877601519141816 -0.9267463630747375 -0.37368114639839933
+vn 0.03877601519141816 0.9267463630747375 0.37368114639839933
+vn 0.008379995638108656 0.9286075166483058 -0.37096880690614914
+vn 0.008620999892440096 0.8074039899264243 -0.5899359926396637
+vn 0.015549994179280617 -0.9360546496132809 0.3515108684214218
+vn -0.015549994179280617 0.9360546496132809 -0.3515108684214218
+vn -0.000703000065167406 0.0752680069772693 -0.9971630924360259
+vn 0.000703000065167406 -0.0752680069772693 0.9971630924360259
+vn 0.016058006247938603 -0.9903163853178207 0.1378970536537545
+vn -0.016058006247938603 0.9903163853178207 -0.1378970536537545
+vn 0.046114983447168016 -0.9952046427743433 0.08626196903653058
+vn -0.046114983447168016 0.9952046427743433 -0.08626196903653058
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+vn -0.015059006263561544 -0.7141552970418882 -0.6998252910815431
+vn -0.05412801787878497 -0.7550222493880427 -0.6534612158418692
+vn 0.05412801787878497 0.7550222493880427 0.6534612158418692
+vn 0.015059006263561544 0.7141552970418882 0.6998252910815431
+vn 0.010074995947787069 0.9574486149094572 0.28842788399288627
+vn 0.02963498635995242 -0.38154382438743667 0.923875574769273
+vn -0.02963498635995242 0.38154382438743667 -0.923875574769273
+vn 0.008024002725689997 0.07638202594636757 0.9970463386887224
+vn -0.008024002725689997 -0.07638202594636757 -0.9970463386887224
+vn 0 0.05787499060686085 0.998323837971555
+vn 0 -0.05787499060686085 -0.998323837971555
+usemtl material_0_0
+f 1//1 2//2 3//3
+f 3//4 2//5 1//6
+f 1//1 4//7 2//2
+f 2//5 4//8 1//6
+f 3//3 5//9 2//2
+f 2//5 5//10 3//4
+f 6//11 4//7 1//1
+f 1//6 4//8 6//12
+f 7//13 4//7 6//11
+f 6//12 4//8 7//14
+f 8//15 7//16 6//17
+f 6//18 7//19 8//20
+f 8//15 9//21 7//16
+f 7//19 9//22 8//20
+f 10//23 8//15 9//21
+f 9//22 8//20 10//24
+f 10//23 9//21 11//25
+f 11//26 9//22 10//24
diff --git a/PartNetMobility/Chair/39628/tree_hier.html b/PartNetMobility/Chair/39628/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1d89d816d0fdb08e6db2c531b8b06bb7c7cb51f4
--- /dev/null
+++ b/PartNetMobility/Chair/39628/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_seat Chair Seat</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_base Chair Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td><p>29 back_surface Back Surface</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 back_frame Back Frame</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>31 back_connector Back Connector</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 back_connector Back Connector</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 seat_surface Seat Surface</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 seat_support Seat Support</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 regular_leg_base Regular Leg Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>36 back_hard_surface Back Hard Surface</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 back_frame_horizontal_bar Back Frame Horizontal Bar</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 seat_hard_surface Seat Hard Surface</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>6 leg Leg</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 leg Leg</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 leg Leg</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 leg Leg</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 caster Wheel Assembly</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>11 caster Wheel Assembly</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 caster Wheel Assembly</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 caster Wheel Assembly</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 caster_yoke Caster Yoke</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel Wheel</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel Wheel</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>20 caster_yoke Caster Yoke</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 wheel Wheel</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 wheel Wheel</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 caster_yoke Caster Yoke</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 wheel Wheel</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 wheel Wheel</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 caster_yoke Caster Yoke</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 wheel Wheel</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 wheel Wheel</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39628/tree_hier_after_merging.html b/PartNetMobility/Chair/39628/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e1282f3588a5dfcdf7acde50338f43d96f71f146
--- /dev/null
+++ b/PartNetMobility/Chair/39628/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_base chair_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_frame back_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 back_connector back_connector</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 back_connector back_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 seat_support seat_support</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 regular_leg_base regular_leg_base</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>5 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 back_frame_horizontal_bar back_frame_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>16 leg leg</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 leg leg</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 leg leg</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/bounding_box.json b/PartNetMobility/Chair/39988/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1d9c9875ffaf98ac963b30e7b1f7839a5a2303f
--- /dev/null
+++ b/PartNetMobility/Chair/39988/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.502588, -0.793093, -0.430456], "max": [0.494296, 0.969509, 0.543375]}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/meta.json b/PartNetMobility/Chair/39988/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c265e3b7df71ed31c551b19a1edb2c36d968478
--- /dev/null
+++ b/PartNetMobility/Chair/39988/meta.json
@@ -0,0 +1 @@
+{"model_id": "7b86f52727b40120e3f7a74e12a274ef", "anno_id": "39988", "user_id": "yz-majinghua", "time_in_sec": "419", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/mobility.urdf b/PartNetMobility/Chair/39988/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d46cd9349ea18994313f0ed2297881ecc1b8ca11
--- /dev/null
+++ b/PartNetMobility/Chair/39988/mobility.urdf
@@ -0,0 +1,587 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7b86f52727b40120e3f7a74e12a274ef">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob_47">
+			<origin xyz="-0.00013685699231568435 -0.02260754712939204 -0.03266884328267513"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.00013685699231568435 -0.02260754712939204 -0.03266884328267513"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.0010611430076843157 0.02260754712939204 -0.013155156717324867"/>
+		<axis xyz="1.8751637718091137e-05 0.822302224014477 -0.5690510100414734"/>
+		<child link="link_0"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_1">
+		<visual name="caster_stem_41">
+			<origin xyz="0.2548007611073273 0 -0.3955540124549917"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2548007611073273 0 -0.3955540124549917"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.2548007611073273 0 0.3955540124549917"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel_42">
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.3448695275698386 -0.7601260000000001 -0.11834113655243661"/>
+		<axis xyz="0.9510596993395045 0 -0.3090071978000699"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_43">
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0900687664625113 0.7601260000000001 -0.2772128759025551"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.3448695275698386 -0.7601260000000001 -0.11834113655243661"/>
+		<axis xyz="0.9510596993395045 0 -0.3090071978000699"/>
+		<child link="link_3"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_stem_38">
+			<origin xyz="0.4107145 0 0.0872745"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4107145 0 0.0872745"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.4107145 0 -0.0872745"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel_39">
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.3439926925155167 -0.7601260000000001 -0.11806493536756657"/>
+		<axis xyz="0.9510524578958283 0 -0.3090294845646673"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel_40">
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.06672180748448332 0.7601260000000001 0.20533943536756658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.3439926925155167 -0.7601260000000001 -0.11806493536756657"/>
+		<axis xyz="0.9510524578958283 0 -0.3090294845646673"/>
+		<child link="link_6"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_7">
+		<visual name="caster_stem_35">
+			<origin xyz="0.00017015359537719127 0 0.38520586536538737"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00017015359537719127 0 0.38520586536538737"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.00017015359537719127 0 -0.38520586536538737"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_7"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel_36">
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.11489074427015605 -0.760126 0.031035804246323684"/>
+		<axis xyz="0.9510690771442232 0 -0.3089783333828371"/>
+		<child link="link_8"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel_37">
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.11506089786553324 0.760126 0.3541700611190637"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.11489074427015605 -0.760126 0.031035804246323684"/>
+		<axis xyz="0.9510690771442232 0 -0.3089783333828371"/>
+		<child link="link_9"/>
+		<parent link="link_7"/>
+	</joint>
+	<link name="link_10">
+		<visual name="caster_stem_32">
+			<origin xyz="-0.4096495 0 0.0866835"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4096495 0 0.0866835"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.4096495 0 -0.0866835"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel_33">
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.39786965219190873 -0.760126 0.12294831564633697"/>
+		<axis xyz="-0.9510819826303847 0 0.3089386060625266"/>
+		<child link="link_11"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel_34">
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011779847808091267 0.760126 -0.036264815646336976"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.39786965219190873 -0.760126 0.12294831564633697"/>
+		<axis xyz="-0.9510819826303847 0 0.3089386060625266"/>
+		<child link="link_12"/>
+		<parent link="link_10"/>
+	</joint>
+	<link name="link_13">
+		<visual name="caster_stem_29">
+			<origin xyz="-0.252372 0 -0.396555"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.252372 0 -0.396555"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="0.252372 0 0.396555"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_13"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_14">
+		<visual name="wheel_30">
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.11353441853131693 -0.760126 0.030612505729586348"/>
+		<axis xyz="0.9510287399393963 0 -0.3091024681384542"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel_31">
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.13883758146868305 0.760126 -0.42716750572958634"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.11353441853131693 -0.760126 0.030612505729586348"/>
+		<axis xyz="0.9510287399393963 0 -0.3091024681384542"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="back_soft_surface_60">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector_57">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector_58">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pillow_59">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_54">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar_55">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector_62">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_52">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar_53">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_connector_61">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface_51">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support_50">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_44">
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/new_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001198 0 -0.045824"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_16_helper"/>
+	</joint>
+	<link name="link_17">
+		<visual name="central_support_7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_24">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_0.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_17"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_16_helper"/>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.001198 0 0.045824"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16_helper"/>
+		<parent link="link_17"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Chair/39988/mobility_v2.json b/PartNetMobility/Chair/39988/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76eb4f2d8d6eaef25d7cda0df2a5515eed0ffab0
--- /dev/null
+++ b/PartNetMobility/Chair/39988/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":16,"joint":"hinge","name":"knob","parts":[{"id":47,"name":"knob","children":[]}],"jointData":{"axis":{"origin":[0.00013685699231568435,0.02260754712939204,0.03266884328267513],"direction":[0.000018751637718091137,0.822302224014477,-0.5690510100414734]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":41,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.2548007611073273,0,0.3955540124549917],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":42,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0900687664625113,-0.7601260000000001,0.2772128759025551],"direction":[0.9510596993395045,0,-0.3090071978000699]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":1,"joint":"hinge","name":"wheel","parts":[{"id":43,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.0900687664625113,-0.7601260000000001,0.2772128759025551],"direction":[0.9510596993395045,0,-0.3090071978000699]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":38,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.4107145,0,-0.0872745],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":39,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06672180748448332,-0.7601260000000001,-0.20533943536756658],"direction":[0.9510524578958283,0,-0.3090294845646673]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":40,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.06672180748448332,-0.7601260000000001,-0.20533943536756658],"direction":[0.9510524578958283,0,-0.3090294845646673]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":35,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.00017015359537719127,0,-0.38520586536538737],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.11506089786553324,-0.760126,-0.3541700611190637],"direction":[0.9510690771442232,0,-0.3089783333828371]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":7,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.11506089786553324,-0.760126,-0.3541700611190637],"direction":[0.9510690771442232,0,-0.3089783333828371]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":32,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.4096495,0,-0.0866835],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.011779847808091267,-0.760126,0.036264815646336976],"direction":[-0.9510819826303847,0,0.3089386060625266]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":10,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.011779847808091267,-0.760126,0.036264815646336976],"direction":[-0.9510819826303847,0,0.3089386060625266]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":17,"joint":"hinge","name":"caster_stem","parts":[{"id":29,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.252372,0,0.396555],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.13883758146868305,-0.760126,0.42716750572958634],"direction":[0.9510287399393963,0,-0.3091024681384542]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.13883758146868305,-0.760126,0.42716750572958634],"direction":[0.9510287399393963,0,-0.3091024681384542]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":17,"joint":"slider","name":"chair_back","parts":[{"id":60,"name":"back_soft_surface","children":[]},{"id":57,"name":"back_connector","children":[]},{"id":58,"name":"back_connector","children":[]},{"id":59,"name":"pillow","children":[]},{"id":54,"name":"armrest_hard_surface","children":[]},{"id":55,"name":"arm_horizontal_bar","children":[]},{"id":62,"name":"arm_connector","children":[]},{"id":52,"name":"armrest_hard_surface","children":[]},{"id":53,"name":"arm_horizontal_bar","children":[]},{"id":61,"name":"arm_connector","children":[]},{"id":51,"name":"seat_soft_surface","children":[]},{"id":50,"name":"seat_support","children":[]},{"id":44,"name":"central_support","children":[]}],"jointData":{"axis":{"origin":[0.001198,0,0.045824],"direction":[0,-1,0]},"limit":{"a":0,"b":0.06800000000000006,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":17,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":7,"name":"central_support","children":[]},{"id":45,"name":"central_support","children":[]},{"id":20,"name":"leg","children":[]},{"id":21,"name":"leg","children":[]},{"id":22,"name":"leg","children":[]},{"id":23,"name":"leg","children":[]},{"id":24,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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diff --git a/PartNetMobility/Chair/39988/point_sample/ply_10000.ply b/PartNetMobility/Chair/39988/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..666decce0df53b324278ab4ad706976c0e0f1aa5
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/point_sample/pts_10000.txt b/PartNetMobility/Chair/39988/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ab70b804905a485d6984f0c13b459978efeff62
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Chair/39988/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64666cfc5c00595f4ef743bc066ef7bb69452868
--- /dev/null
+++ b/PartNetMobility/Chair/39988/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Chair/39988/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Chair/39988/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4d9e30c82cdc566687e0333c387af3ae1a989923
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Chair/39988/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Chair/39988/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ae97b497c81dbd0b2def8c94f2a36c2c07410c4
--- /dev/null
+++ b/PartNetMobility/Chair/39988/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Chair/39988/result.json b/PartNetMobility/Chair/39988/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b83ba7843f63add10a7399c2a418f1808704a8f
--- /dev/null
+++ b/PartNetMobility/Chair/39988/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["new-7"], "id": 60, "name": "back_soft_surface"}], "id": 56, "name": "back_surface"}, {"text": "Back Connector", "objs": ["new-8"], "id": 57, "name": "back_connector"}, {"text": "Back Connector", "objs": ["new-9"], "id": 58, "name": "back_connector"}, {"text": "Pillow", "objs": ["new-10"], "id": 59, "name": "pillow"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-30"], "id": 54, "name": "armrest_hard_surface"}, {"text": "Arm Horizontal Bar", "objs": ["original-31"], "id": 55, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-38"], "id": 62, "name": "arm_connector"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Hard Surface", "objs": ["original-33"], "id": 52, "name": "armrest_hard_surface"}, {"text": "Arm Horizontal Bar", "objs": ["original-34"], "id": 53, "name": "arm_horizontal_bar"}, {"text": "Arm Connector", "objs": ["original-37"], "id": 61, "name": "arm_connector"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["new-6"], "id": 51, "name": "seat_soft_surface"}], "id": 49, "name": "seat_surface"}, {"text": "Seat Support", "objs": ["original-3"], "id": 50, "name": "seat_support"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Central Support", "objs": ["new-5"], "id": 7, "name": "central_support"}, {"text": "Star-shape Leg Set", "children": [{"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-12"], "id": 41, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-14"], "id": 42, "name": "wheel"}, {"text": "Wheel", "objs": ["original-13"], "id": 43, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Leg", "objs": ["new-2"], "id": 20, "name": "leg"}, {"text": "Leg", "objs": ["new-1"], "id": 21, "name": "leg"}, {"text": "Leg", "objs": ["new-0"], "id": 22, "name": "leg"}, {"text": "Leg", "objs": ["new-4"], "id": 23, "name": "leg"}, {"text": "Leg", "objs": ["new-3"], "id": 24, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-21"], "id": 38, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-22"], "id": 39, "name": "wheel"}, {"text": "Wheel", "objs": ["original-23"], "id": 40, "name": "wheel"}], "id": 25, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-25"], "id": 35, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-26"], "id": 36, "name": "wheel"}, {"text": "Wheel", "objs": ["original-27"], "id": 37, "name": "wheel"}], "id": 26, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-8"], "id": 32, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-9"], "id": 33, "name": "wheel"}, {"text": "Wheel", "objs": ["original-10"], "id": 34, "name": "wheel"}], "id": 27, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Stem", "objs": ["original-17"], "id": 29, "name": "caster_stem"}, {"text": "Wheel", "objs": ["original-19"], "id": 30, "name": "wheel"}, {"text": "Wheel", "objs": ["original-18"], "id": 31, "name": "wheel"}], "id": 28, "name": "caster"}], "id": 8, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-5"], "id": 44, "name": "central_support"}, {"text": "Central Support", "objs": ["original-6"], "id": 45, "name": "central_support"}, {"text": "Mechanical Control", "children": [{"text": "Knob", "objs": ["original-4"], "id": 47, "name": "knob"}], "id": 46, "name": "mechanical_control"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/result_after_merging.json b/PartNetMobility/Chair/39988/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb9847e2d47a58b616855148bf926468844af2e
--- /dev/null
+++ b/PartNetMobility/Chair/39988/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "id": 0, "objs": ["new-7", "new-8", "new-9", "new-10", "original-30", "original-31", "original-38", "original-33", "original-34", "original-37", "new-6", "original-3", "new-5", "original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", "original-26", "original-27", "original-8", "original-9", "original-10", "original-17", "original-19", "original-18", "original-5", "original-6", "original-4"], "text": "chair", "children": [{"ori_id": 1, "id": 1, "objs": ["new-7", "new-8", "new-9", "new-10"], "text": "chair_back", "children": [{"ori_id": 56, "id": 2, "objs": ["new-7"], "text": "back_surface", "children": [{"id": 3, "ori_id": 60, "text": "back_single_surface", "name": "back_single_surface", "objs": ["new-7"]}], "name": "back_surface"}, {"id": 4, "ori_id": 57, "text": "back_connector", "name": "back_connector", "objs": ["new-8"]}, {"id": 5, "ori_id": 58, "text": "back_connector", "name": "back_connector", "objs": ["new-9"]}], "name": "chair_back"}, {"ori_id": 2, "id": 6, "objs": ["original-30", "original-31", "original-38"], "text": "chair_arm", "children": [{"id": 7, "ori_id": 54, "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "objs": ["original-30"]}, {"id": 8, "ori_id": 55, "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "objs": ["original-31"]}, {"id": 9, "ori_id": 62, "text": "arm_connector", "name": "arm_connector", "objs": ["original-38"]}], "name": "chair_arm"}, {"ori_id": 3, "id": 10, "objs": ["original-33", "original-34", "original-37"], "text": "chair_arm", "children": [{"id": 11, "ori_id": 52, "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "objs": ["original-33"]}, {"id": 12, "ori_id": 53, "text": "arm_horizontal_bar", "name": "arm_horizontal_bar", "objs": ["original-34"]}, {"id": 13, "ori_id": 61, "text": "arm_connector", "name": "arm_connector", "objs": ["original-37"]}], "name": "chair_arm"}, {"ori_id": 4, "id": 14, "objs": ["new-6", "original-3"], "text": "chair_seat", "children": [{"ori_id": 49, "id": 15, "objs": ["new-6"], "text": "seat_surface", "children": [{"id": 16, "ori_id": 51, "text": "seat_single_surface", "name": "seat_single_surface", "objs": ["new-6"]}], "name": "seat_surface"}, {"id": 17, "ori_id": 50, "text": "seat_support", "name": "seat_support", "objs": ["original-3"]}], "name": "chair_seat"}, {"ori_id": 5, "id": 18, "objs": ["new-5", "original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", "original-26", "original-27", "original-8", "original-9", "original-10", "original-17", "original-19", "original-18", "original-5", "original-6", "original-4"], "text": "chair_base", "children": [{"ori_id": 6, "id": 19, "objs": ["new-5", "original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", "original-26", "original-27", "original-8", "original-9", "original-10", "original-17", "original-19", "original-18", "original-5", "original-6", "original-4"], "text": "star_leg_base", "children": [{"id": 20, "ori_id": 7, "text": "central_support", "name": "central_support", "objs": ["new-5"]}, {"ori_id": 8, "id": 21, "objs": ["original-12", "original-14", "original-13", "new-2", "new-1", "new-0", "new-4", "new-3", "original-21", "original-22", "original-23", "original-25", "original-26", "original-27", "original-8", "original-9", "original-10", "original-17", "original-19", "original-18"], "text": "star_leg_set", "children": [{"ori_id": 18, "id": 22, "objs": ["original-12", "original-14", "original-13"], "text": "caster", "children": [{"id": 23, "ori_id": 41, "text": "caster_stem", "name": "caster_stem", "objs": ["original-12"]}, {"id": 24, "ori_id": 42, "text": "wheel", "name": "wheel", "objs": ["original-14"]}, {"id": 25, "ori_id": 43, "text": "wheel", "name": "wheel", "objs": ["original-13"]}], "name": "caster"}, {"id": 26, "ori_id": 20, "text": "leg", "name": "leg", "objs": ["new-2"]}, {"id": 27, "ori_id": 21, "text": "leg", "name": "leg", "objs": ["new-1"]}, {"id": 28, "ori_id": 22, "text": "leg", "name": "leg", "objs": ["new-0"]}, {"id": 29, "ori_id": 23, "text": "leg", "name": "leg", "objs": ["new-4"]}, {"id": 30, "ori_id": 24, "text": "leg", "name": "leg", "objs": ["new-3"]}, {"ori_id": 25, "id": 31, "objs": ["original-21", "original-22", "original-23"], "text": "caster", "children": [{"id": 32, "ori_id": 38, "text": "caster_stem", "name": "caster_stem", "objs": ["original-21"]}, {"id": 33, "ori_id": 39, "text": "wheel", "name": "wheel", "objs": ["original-22"]}, {"id": 34, "ori_id": 40, "text": "wheel", "name": "wheel", "objs": ["original-23"]}], "name": "caster"}, {"ori_id": 26, "id": 35, "objs": ["original-25", "original-26", "original-27"], "text": "caster", "children": [{"id": 36, "ori_id": 35, "text": "caster_stem", "name": "caster_stem", "objs": ["original-25"]}, {"id": 37, "ori_id": 36, "text": "wheel", "name": "wheel", "objs": ["original-26"]}, {"id": 38, "ori_id": 37, "text": "wheel", "name": "wheel", "objs": ["original-27"]}], "name": "caster"}, {"ori_id": 27, "id": 39, "objs": ["original-8", "original-9", "original-10"], "text": "caster", "children": [{"id": 40, "ori_id": 32, "text": "caster_stem", "name": "caster_stem", "objs": ["original-8"]}, {"id": 41, "ori_id": 33, "text": "wheel", "name": "wheel", "objs": ["original-9"]}, {"id": 42, "ori_id": 34, "text": "wheel", "name": "wheel", "objs": ["original-10"]}], "name": "caster"}, {"ori_id": 28, "id": 43, "objs": ["original-17", "original-19", "original-18"], "text": "caster", "children": [{"id": 44, "ori_id": 29, "text": "caster_stem", "name": "caster_stem", "objs": ["original-17"]}, {"id": 45, "ori_id": 30, "text": "wheel", "name": "wheel", "objs": ["original-19"]}, {"id": 46, "ori_id": 31, "text": "wheel", "name": "wheel", "objs": ["original-18"]}], "name": "caster"}], "name": "star_leg_set"}, {"id": 47, "ori_id": 44, "text": "central_support", "name": "central_support", "objs": ["original-5"]}, {"id": 48, "ori_id": 45, "text": "central_support", "name": "central_support", "objs": ["original-6"]}, {"ori_id": 46, "id": 49, "objs": ["original-4"], "text": "mechanical_control", "children": [{"id": 50, "ori_id": 47, "text": "knob", "name": "knob", "objs": ["original-4"]}], "name": "mechanical_control"}], "name": "star_leg_base"}], "name": "chair_base"}], "name": "chair"}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/semantics.txt b/PartNetMobility/Chair/39988/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e07d7be632afc207ce06740ee1db5c3f08e29e7
--- /dev/null
+++ b/PartNetMobility/Chair/39988/semantics.txt
@@ -0,0 +1,18 @@
+link_0 hinge knob
+link_1 hinge caster
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge wheel
+link_7 hinge caster
+link_8 hinge wheel
+link_9 hinge wheel
+link_10 hinge caster
+link_11 hinge wheel
+link_12 hinge wheel
+link_13 hinge caster
+link_14 hinge wheel
+link_15 hinge wheel
+link_16 slider+ seat
+link_17 free chair_leg
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index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_0.obj b/PartNetMobility/Chair/39988/textured_objs/new_0.obj
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index 0000000000000000000000000000000000000000..8ce017abdc518724a614bce6b50d3e4b6b6af7fa
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_1.mtl b/PartNetMobility/Chair/39988/textured_objs/new_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_1.mtl
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index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_10.obj b/PartNetMobility/Chair/39988/textured_objs/new_10.obj
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index 0000000000000000000000000000000000000000..a39c91da2c8fe140754b5b1c9c522aeb70d077e3
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_2.mtl b/PartNetMobility/Chair/39988/textured_objs/new_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_2.mtl
@@ -0,0 +1,24 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_2.obj b/PartNetMobility/Chair/39988/textured_objs/new_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ffcbf2287fc3c78dde5c5e6c9a4e541d2473030
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_3.mtl b/PartNetMobility/Chair/39988/textured_objs/new_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_3.mtl
@@ -0,0 +1,24 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_3.obj b/PartNetMobility/Chair/39988/textured_objs/new_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebe104f3fd4bc3a90bc2fff142d84143ff0a32ab
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_3.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_4.mtl b/PartNetMobility/Chair/39988/textured_objs/new_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_4.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_4.obj b/PartNetMobility/Chair/39988/textured_objs/new_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e368e698bc77d1fc03d5248f68bdc3831af27c6b
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_5.mtl b/PartNetMobility/Chair/39988/textured_objs/new_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7a8ab1ef4db36f7e9bbddfc0843d51d0b49c40e9
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_5.obj b/PartNetMobility/Chair/39988/textured_objs/new_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2be13b830113bbd7b30217765646a612002154ee
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_6.mtl b/PartNetMobility/Chair/39988/textured_objs/new_6.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_6.obj b/PartNetMobility/Chair/39988/textured_objs/new_6.obj
new file mode 100644
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\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/textured_objs/new_7.mtl b/PartNetMobility/Chair/39988/textured_objs/new_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
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\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/textured_objs/new_8.mtl b/PartNetMobility/Chair/39988/textured_objs/new_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_8.mtl
@@ -0,0 +1,24 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_8.obj b/PartNetMobility/Chair/39988/textured_objs/new_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bb5061d0317421d54120a1f7da23a088ffa259
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_8.obj
@@ -0,0 +1,82 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_9.mtl b/PartNetMobility/Chair/39988/textured_objs/new_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40897a97a0a52833a13e8cf57842b4967e6a4d07
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_9.mtl
@@ -0,0 +1,24 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/new_9.obj b/PartNetMobility/Chair/39988/textured_objs/new_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72de644151d8ddc01b01bd3c83f2428edfe739d3
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/new_9.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_10.mtl b/PartNetMobility/Chair/39988/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_10.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_10.obj b/PartNetMobility/Chair/39988/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f788236d222b7f0cdfe29edb347178e5b77bbdd
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_10.obj
@@ -0,0 +1,255 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_12.mtl b/PartNetMobility/Chair/39988/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_12.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_12.obj b/PartNetMobility/Chair/39988/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98b2b2f92dcdee2ded8b8fd56cd1193bddf22ccc
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_12.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_13.mtl b/PartNetMobility/Chair/39988/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_13.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_13.obj b/PartNetMobility/Chair/39988/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c17ecf75340f532023134a402c35747ce0444d0
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_14.mtl b/PartNetMobility/Chair/39988/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_14.obj b/PartNetMobility/Chair/39988/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d83837d07880e028d1ad3b6552c8f834fb61791
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_14.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_17.mtl b/PartNetMobility/Chair/39988/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_17.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_17.obj b/PartNetMobility/Chair/39988/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7752cd77fe143fc682fe9ae474ea8241aab380f2
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_17.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_18.mtl b/PartNetMobility/Chair/39988/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
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+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_18.obj b/PartNetMobility/Chair/39988/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fd95e35a04dfdbffbd6e6e321377197869702e1
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_18.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_19.mtl b/PartNetMobility/Chair/39988/textured_objs/original_19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_19.obj b/PartNetMobility/Chair/39988/textured_objs/original_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1b0c60aa9c03fc3b0d8f200353a0fdeb41cf532
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_19.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_21.mtl b/PartNetMobility/Chair/39988/textured_objs/original_21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_21.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_21.obj b/PartNetMobility/Chair/39988/textured_objs/original_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed7edd6c6f66ed8465558d5f948eafd2bc6aa974
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_21.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_22.mtl b/PartNetMobility/Chair/39988/textured_objs/original_22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_22.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_22.obj b/PartNetMobility/Chair/39988/textured_objs/original_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e035c49be8d82771cb4e65128973430e8452578
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_22.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_23.mtl b/PartNetMobility/Chair/39988/textured_objs/original_23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_23.obj b/PartNetMobility/Chair/39988/textured_objs/original_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7daa919ab6075453b80ff26171b02448658abeb
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_23.obj
@@ -0,0 +1,255 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_25.mtl b/PartNetMobility/Chair/39988/textured_objs/original_25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_25.obj b/PartNetMobility/Chair/39988/textured_objs/original_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0201cca36aab8f82e44fbd553bbb0efb6102cb6d
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_25.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
+# 25
+mtllib original_25.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_26.mtl b/PartNetMobility/Chair/39988/textured_objs/original_26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_26.obj b/PartNetMobility/Chair/39988/textured_objs/original_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20e8d2ae8b3f6d8feab524e02cad95739c68eb60
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_26.obj
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+# SSTK version 0.8.0
+# 26
+mtllib original_26.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_27.mtl b/PartNetMobility/Chair/39988/textured_objs/original_27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_27.obj b/PartNetMobility/Chair/39988/textured_objs/original_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6d936c24db4586e8825ade7b6233cb1f68a274
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_27.obj
@@ -0,0 +1,255 @@
+# SSTK version 0.8.0
+# 27
+mtllib original_27.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_3.mtl b/PartNetMobility/Chair/39988/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/39988/textured_objs/original_3.obj b/PartNetMobility/Chair/39988/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1fc5e306a34ef49a1779bf033efebd9ca47af38
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_3.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 3
+mtllib original_3.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_30.mtl b/PartNetMobility/Chair/39988/textured_objs/original_30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_30.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+illum 3
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_30.obj b/PartNetMobility/Chair/39988/textured_objs/original_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f47689c492a3307b6ece12d9875edecb3d53c4b1
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_30.obj
@@ -0,0 +1,103 @@
+# SSTK version 0.8.0
+# 30
+mtllib original_30.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_31.mtl b/PartNetMobility/Chair/39988/textured_objs/original_31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_31.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_31.obj b/PartNetMobility/Chair/39988/textured_objs/original_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f15fb178186b398219ed12ed668dc29fdfe68fc
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_33.mtl b/PartNetMobility/Chair/39988/textured_objs/original_33.mtl
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index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_33.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_33.obj b/PartNetMobility/Chair/39988/textured_objs/original_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4f3d65cd2da0963693f63056b8a46647142906b
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_33.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_34.mtl b/PartNetMobility/Chair/39988/textured_objs/original_34.mtl
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index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_34.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_34.obj b/PartNetMobility/Chair/39988/textured_objs/original_34.obj
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index 0000000000000000000000000000000000000000..7da3d533e891e29c14b582abd5065fe9d86def9c
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_34.obj
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_37.mtl b/PartNetMobility/Chair/39988/textured_objs/original_37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..820ca23e4b550832f0937f5253a35316ae0ab268
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_37.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/PartNetMobility/Chair/39988/textured_objs/original_37.obj b/PartNetMobility/Chair/39988/textured_objs/original_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f09bebaf7a9949ab4f81f78ad581519cd2a4e9b
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_37.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 37
+mtllib original_37.mtl
+o mesh19/mesh19-geometry#mesh19-geometry
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_38.mtl b/PartNetMobility/Chair/39988/textured_objs/original_38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_38.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_38.obj b/PartNetMobility/Chair/39988/textured_objs/original_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34e3a56b8e94d5edb4b5afc79ee93d194751bb2
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_38.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 38
+mtllib original_38.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_4.mtl b/PartNetMobility/Chair/39988/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_4.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_4.obj b/PartNetMobility/Chair/39988/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfcce9b01367a1140d3e3bad55dd2633dd1dd19
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_4.obj
@@ -0,0 +1,420 @@
+# SSTK version 0.8.0
+# 4
+mtllib original_4.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_5.mtl b/PartNetMobility/Chair/39988/textured_objs/original_5.mtl
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index 0000000000000000000000000000000000000000..38ebfd219d811c0f538a0d160f1a6b210f5541ce
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_5.obj b/PartNetMobility/Chair/39988/textured_objs/original_5.obj
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index 0000000000000000000000000000000000000000..a1c36d269f605e813ce60b063364c142f3329f71
--- /dev/null
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_6.mtl b/PartNetMobility/Chair/39988/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55493a895c268d19f0bfb934615897cb9d1b6ff4
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_6.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_6.obj b/PartNetMobility/Chair/39988/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4132021ed3ec8d964bde91991e962825e8a186e8
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_6.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
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+mtllib original_6.mtl
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_8.mtl b/PartNetMobility/Chair/39988/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_8.obj b/PartNetMobility/Chair/39988/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4626dcd748b36c9bc0bad1f655617ae67354aab8
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_8.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_9.mtl b/PartNetMobility/Chair/39988/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/39988/textured_objs/original_9.obj b/PartNetMobility/Chair/39988/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..226a9fb0664724cfcc0a68307909ac6c0bc8ef99
--- /dev/null
+++ b/PartNetMobility/Chair/39988/textured_objs/original_9.obj
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diff --git a/PartNetMobility/Chair/39988/tree_hier.html b/PartNetMobility/Chair/39988/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..5b79f856be74400564009608c707a69c27db5c03
--- /dev/null
+++ b/PartNetMobility/Chair/39988/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>56 back_surface Back Surface</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>57 back_connector Back Connector</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 back_connector Back Connector</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 pillow Pillow</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>54 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>62 arm_connector Arm Connector</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>52 armrest_hard_surface Armrest Hard Surface</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 arm_horizontal_bar Arm Horizontal Bar</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>61 arm_connector Arm Connector</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 seat_surface Seat Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>50 seat_support Seat Support</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>60 back_soft_surface Back Soft Surface</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>51 seat_soft_surface Seat Soft Surface</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 central_support Central Support</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 star_leg_set Star-shape Leg Set</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>44 central_support Central Support</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 central_support Central Support</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 mechanical_control Mechanical Control</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>20 leg Leg</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg Leg</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg Leg</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg Leg</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg Leg</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 caster Wheel Assembly</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 caster Wheel Assembly</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 caster Wheel Assembly</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>28 caster Wheel Assembly</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>47 knob Knob</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>41 caster_stem Caster Stem</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel Wheel</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 wheel Wheel</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>38 caster_stem Caster Stem</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel Wheel</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 wheel Wheel</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 caster_stem Caster Stem</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel Wheel</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_stem Caster Stem</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel Wheel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 caster_stem Caster Stem</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/39988/tree_hier_after_merging.html b/PartNetMobility/Chair/39988/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..33c6f5cacd95bc1ce57ace2976349bc1ebc93df9
--- /dev/null
+++ b/PartNetMobility/Chair/39988/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 chair_arm chair_arm</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 chair_seat chair_seat</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_base chair_base</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 back_connector back_connector</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_connector back_connector</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_connector arm_connector</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 arm_connector arm_connector</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_surface seat_surface</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>17 seat_support seat_support</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 star_leg_base star_leg_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>20 central_support central_support</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 star_leg_set star_leg_set</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>47 central_support central_support</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 central_support central_support</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 mechanical_control mechanical_control</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>22 caster caster</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 leg leg</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 leg leg</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 leg leg</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 leg leg</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 leg leg</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 caster caster</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>35 caster caster</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 caster caster</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 caster caster</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>50 knob knob</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>23 caster_stem caster_stem</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 wheel wheel</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>32 caster_stem caster_stem</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>36 caster_stem caster_stem</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>40 caster_stem caster_stem</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 wheel wheel</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 wheel wheel</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 caster_stem caster_stem</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 wheel wheel</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 wheel wheel</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/bounding_box.json b/PartNetMobility/Chair/40067/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2255a3b3e9a4316de1c915f9730404fde63116f
--- /dev/null
+++ b/PartNetMobility/Chair/40067/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.465625, -0.852973, -0.40599], "max": [0.461427, 0.885014, 0.569691]}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/meta.json b/PartNetMobility/Chair/40067/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf3bca47d82cc2095706d0ff0fc0171f1dfc8e6
--- /dev/null
+++ b/PartNetMobility/Chair/40067/meta.json
@@ -0,0 +1 @@
+{"model_id": "7eaf212097293229fd3456bfc7553c94", "anno_id": "40067", "user_id": "shape08", "time_in_sec": "202", "version": "3", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/mobility.urdf b/PartNetMobility/Chair/40067/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb1a54e669d9c4aa1c5c5cfd77b63d204e8d8d4e
--- /dev/null
+++ b/PartNetMobility/Chair/40067/mobility.urdf
@@ -0,0 +1,572 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7eaf212097293229fd3456bfc7553c94">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever_40">
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lever_40">
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01638226315379143 0.3087243074279856 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.019474731590488813 -0.3087243074279856 -0.1601520396411574"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_17"/>
+		<limit lower="0.0" upper="0.27017696820872217"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob_41">
+			<origin xyz="0.004240464824702992 -0.03404987679122426 -0.19300801038325405"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004240464824702992 -0.03404987679122426 -0.19300801038325405"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.007332933261400375 0.03404987679122426 0.032855970742096646"/>
+		<axis xyz="-5.7221703244016534e-05 0.9847923906468601 -0.17373527002229266"/>
+		<child link="link_1"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke_37">
+			<origin xyz="0.4109760163604021 0 -0.029821438934100997"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.4109760163604021 0 -0.029821438934100997"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="-0.4109760163604021 0 0.029821438934100997"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_38">
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.4109760163604021 -0.8117528426753511 -0.034186643925889396"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel_39">
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 0.004365204991788402"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.4109760163604021 -0.8117528426753511 -0.034186643925889396"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_4"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_5">
+		<visual name="caster_yoke_34">
+			<origin xyz="-0.003734983786463737 0 0.2695848207415639"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003734983786463737 0 0.2695848207415639"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="0.003734983786463737 0 -0.2695848207415639"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel_35">
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.003734983786463737 -0.8098480609708484 -0.03074956471610657"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel_36">
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098480609708484 0.3003343854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.003734983786463737 -0.8098480609708484 -0.03074956471610657"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_7"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_8">
+		<visual name="caster_yoke_31">
+			<origin xyz="-0.4150677405015231 0 -0.02713694508942962"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.4150677405015231 0 -0.02713694508942962"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.4150677405015231 0 0.02713694508942962"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel_32">
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.4150677405015231 -0.8098479390291516 -0.03086855963175919"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_9"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel_33">
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 0.0037316145423295696"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.4150677405015231 -0.8098479390291516 -0.03086855963175919"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_10"/>
+		<parent link="link_8"/>
+	</joint>
+	<link name="link_11">
+		<visual name="caster_yoke_28">
+			<origin xyz="-0.25393888603769244 0 -0.514514838298887"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.25393888603769244 0 -0.514514838298887"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="0.25393888603769244 0 0.514514838298887"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="wheel_29">
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="-0.25393888603769244 -0.8098479390291516 -0.030871452841216507"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_12"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_13">
+		<visual name="wheel_30">
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8098479390291516 -0.4836433854576705"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="continuous">
+		<origin xyz="-0.25393888603769244 -0.8098479390291516 -0.030871452841216507"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_13"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke_25">
+			<origin xyz="0.2480326107549667 0 -0.5106440351445807"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2480326107549667 0 -0.5106440351445807"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.2480326107549667 0 0.5106440351445807"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_15">
+		<visual name="wheel_26">
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="0.2480326107549667 -0.8117528426753511 -0.030790240136369107"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_15"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_16">
+		<visual name="wheel_27">
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.8117528426753511 -0.47985379500821157"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.2480326107549667 -0.8117528426753511 -0.030790240136369107"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_16"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_17">
+		<visual name="back_soft_surface_54">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface_47">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface_51">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame_52">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_soft_surface_49">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_48.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_holistic_frame_50">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_43">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_42">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_42">
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.003092468436697383 0 -0.1601520396411574"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17"/>
+		<parent link="link_17_helper"/>
+	</joint>
+	<link name="link_18">
+		<visual name="central_support_44">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_45">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_18"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_17_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.003092468436697383 0 0.1601520396411574"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17_helper"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.1200000000000001"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Chair/40067/mobility_v2.json b/PartNetMobility/Chair/40067/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1bef7ebb571bb8a48cf79ba2c72e11542268cc
--- /dev/null
+++ b/PartNetMobility/Chair/40067/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":17,"joint":"hinge","name":"lever","parts":[{"id":40,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[-0.01638226315379143,-0.3087243074279856,0],"direction":[0,0,1]},"limit":{"a":0,"b":15.479999999999999,"noLimit":false}}},{"id":1,"parent":17,"joint":"hinge","name":"knob","parts":[{"id":41,"name":"knob","children":[]}],"jointData":{"axis":{"origin":[-0.004240464824702992,0.03404987679122426,0.19300801038325405],"direction":[-0.000057221703244016534,0.9847923906468601,-0.17373527002229266]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":37,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4109760163604021,0,0.029821438934100997],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":38,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8117528426753511,-0.004365204991788402],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":39,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8117528426753511,-0.004365204991788402],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":34,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.003734983786463737,0,-0.2695848207415639],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098480609708484,-0.3003343854576705],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":5,"joint":"hinge","name":"wheel","parts":[{"id":36,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098480609708484,-0.3003343854576705],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":31,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.4150677405015231,0,0.02713694508942962],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":32,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098479390291516,-0.0037316145423295696],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":8,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098479390291516,-0.0037316145423295696],"direction":[-1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.25393888603769244,0,0.514514838298887],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098479390291516,0.4836433854576705],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":13,"parent":11,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8098479390291516,0.4836433854576705],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":14,"parent":18,"joint":"hinge","name":"caster_yoke","parts":[{"id":25,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.2480326107549667,0,0.5106440351445807],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8117528426753511,0.47985379500821157],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":27,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0,-0.8117528426753511,0.47985379500821157],"direction":[1,0,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":17,"parent":18,"joint":"slider","name":"back_soft_surface","parts":[{"id":54,"name":"back_soft_surface","children":[]},{"id":47,"name":"seat_soft_surface","children":[]},{"id":51,"name":"armrest_soft_surface","children":[]},{"id":52,"name":"arm_holistic_frame","children":[]},{"id":49,"name":"armrest_soft_surface","children":[]},{"id":50,"name":"arm_holistic_frame","children":[]},{"id":43,"name":"central_support","children":[]},{"id":42,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[0.003092468436697383,0,0.1601520396411574],"direction":[0,-1,0]},"limit":{"a":0,"b":0.1200000000000001,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":18,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":44,"name":"central_support","children":[]},{"id":45,"name":"central_support","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]}],"jointData":{}}]
\ No newline at end of file
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--- /dev/null
+++ b/PartNetMobility/Chair/40067/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 37065
diff --git a/PartNetMobility/Chair/40067/parts_render/0.txt b/PartNetMobility/Chair/40067/parts_render/0.txt
new file mode 100644
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+0 chair Sitting Furniture
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNetMobility/Chair/40067/parts_render/1.txt b/PartNetMobility/Chair/40067/parts_render/1.txt
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Chair/40067/parts_render/1.txt
@@ -0,0 +1 @@
+1 chair_back Chair Back
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/parts_render/10.png b/PartNetMobility/Chair/40067/parts_render/10.png
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--- /dev/null
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--- /dev/null
+++ b/PartNetMobility/Chair/40067/parts_render/10.txt
@@ -0,0 +1 @@
+10 leg Leg
\ No newline at end of file
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+++ b/PartNetMobility/Chair/40067/parts_render/11.txt
@@ -0,0 +1 @@
+11 leg Leg
\ No newline at end of file
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new file mode 100644
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@@ -0,0 +1 @@
+12 leg Leg
\ No newline at end of file
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new file mode 100644
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+++ b/PartNetMobility/Chair/40067/parts_render/13.txt
@@ -0,0 +1 @@
+13 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/parts_render/14.png b/PartNetMobility/Chair/40067/parts_render/14.png
new file mode 100644
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+++ b/PartNetMobility/Chair/40067/parts_render/14.txt
@@ -0,0 +1 @@
+14 leg Leg
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/parts_render/15.png b/PartNetMobility/Chair/40067/parts_render/15.png
new file mode 100644
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diff --git a/PartNetMobility/Chair/40067/point_sample/ply_10000.ply b/PartNetMobility/Chair/40067/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4ccc588a0ee4575f7443d0aa7ba2a6273dfd6049
--- /dev/null
+++ b/PartNetMobility/Chair/40067/point_sample/ply_10000.ply
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new file mode 100644
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diff --git a/PartNetMobility/Chair/40067/point_sample/pts_10000.txt b/PartNetMobility/Chair/40067/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd9d46da2ba6dfc544f1f7684d1d7ae19aca130
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diff --git a/PartNetMobility/Chair/40067/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Chair/40067/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2111c1b8784a89b25ad486248fea2a57b5a3f3d9
--- /dev/null
+++ b/PartNetMobility/Chair/40067/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7fee2e81017b8f2f4c638cf52d1133603539a7aa
--- /dev/null
+++ b/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_label_10000.ply
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diff --git a/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_nor_rgba_10000.ply b/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_nor_rgba_10000.ply
new file mode 100644
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diff --git a/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32bdfbf184f3a62c38b765566145a673d3130fdc
--- /dev/null
+++ b/PartNetMobility/Chair/40067/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Chair/40067/result.json b/PartNetMobility/Chair/40067/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..676c7ac5393b6363bea24deead177e5f9282ed42
--- /dev/null
+++ b/PartNetMobility/Chair/40067/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Surface", "children": [{"text": "Back Soft Surface", "objs": ["original-41"], "id": 54, "name": "back_soft_surface"}], "id": 53, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-45"], "id": 51, "name": "armrest_soft_surface"}, {"text": "Arm Holistic Frame", "objs": ["original-44"], "id": 52, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Armrest Soft Surface", "objs": ["original-48"], "id": 49, "name": "armrest_soft_surface"}, {"text": "Arm Holistic Frame", "objs": ["original-47"], "id": 50, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Soft Surface", "objs": ["original-49"], "id": 47, "name": "seat_soft_surface"}], "id": 46, "name": "seat_surface"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Mechanical Control", "children": [{"text": "Lever", "objs": ["original-4", "original-3"], "id": 40, "name": "lever"}, {"text": "Knob", "objs": ["original-40"], "id": 41, "name": "knob"}, {"text": "Mounting Plane", "objs": ["original-51", "original-5"], "id": 42, "name": "mounting_plate"}], "id": 8, "name": "mechanical_control"}, {"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-12"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-13"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-14"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-15"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-16"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-8"], "id": 37, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-10"], "id": 38, "name": "wheel"}, {"text": "Wheel", "objs": ["original-11"], "id": 39, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-28"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-31"], "id": 35, "name": "wheel"}, {"text": "Wheel", "objs": ["original-30"], "id": 36, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-33"], "id": 31, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-36"], "id": 32, "name": "wheel"}, {"text": "Wheel", "objs": ["original-35"], "id": 33, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-25"], "id": 29, "name": "wheel"}, {"text": "Wheel", "objs": ["original-26"], "id": 30, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-18"], "id": 25, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-20"], "id": 26, "name": "wheel"}, {"text": "Wheel", "objs": ["original-21"], "id": 27, "name": "wheel"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-50"], "id": 43, "name": "central_support"}, {"text": "Central Support", "objs": ["original-37"], "id": 44, "name": "central_support"}, {"text": "Central Support", "objs": ["original-38"], "id": 45, "name": "central_support"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/result_after_merging.json b/PartNetMobility/Chair/40067/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec16d931ce76aba274c1feb2fe51e2d1e8f6550
--- /dev/null
+++ b/PartNetMobility/Chair/40067/result_after_merging.json
@@ -0,0 +1 @@
+[{"name": "chair", "id": 0, "children": [{"name": "chair_back", "id": 1, "children": [{"name": "back_surface", "id": 2, "children": [{"name": "back_single_surface", "id": 3, "objs": ["original-41"], "ori_id": 54, "text": "back_single_surface"}], "objs": ["original-41"], "text": "back_surface", "ori_id": 53}], "objs": ["original-41"], "text": "chair_back", "ori_id": 1}, {"name": "chair_arm", "id": 4, "children": [{"name": "arm_horizontal_bar", "id": 5, "objs": ["original-45"], "ori_id": 51, "text": "arm_horizontal_bar"}, {"name": "arm_holistic_frame", "id": 6, "objs": ["original-44"], "ori_id": 52, "text": "arm_holistic_frame"}], "objs": ["original-45", "original-44"], "text": "chair_arm", "ori_id": 2}, {"name": "chair_arm", "id": 7, "children": [{"name": "arm_horizontal_bar", "id": 8, "objs": ["original-48"], "ori_id": 49, "text": "arm_horizontal_bar"}, {"name": "arm_holistic_frame", "id": 9, "objs": ["original-47"], "ori_id": 50, "text": "arm_holistic_frame"}], "objs": ["original-48", "original-47"], "text": "chair_arm", "ori_id": 3}, {"name": "chair_seat", "id": 10, "children": [{"name": "seat_surface", "id": 11, "children": [{"name": "seat_single_surface", "id": 12, "objs": ["original-49"], "ori_id": 47, "text": "seat_single_surface"}], "objs": ["original-49"], "text": "seat_surface", "ori_id": 46}], "objs": ["original-49"], "text": "chair_seat", "ori_id": 4}, {"name": "chair_base", "id": 13, "children": [{"name": "star_leg_base", "id": 14, "children": [{"name": "mechanical_control", "id": 15, "children": [{"name": "lever", "id": 16, "objs": ["original-4", "original-3"], "ori_id": 40, "text": "lever"}, {"name": "knob", "id": 17, "objs": ["original-40"], "ori_id": 41, "text": "knob"}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5"], "text": "mechanical_control", "ori_id": 8}, {"name": "star_leg_set", "id": 18, "children": [{"name": "leg", "id": 19, "objs": ["original-12"], "ori_id": 10, "text": "leg"}, {"name": "leg", "id": 20, "objs": ["original-13"], "ori_id": 11, "text": "leg"}, {"name": "leg", "id": 21, "objs": ["original-14"], "ori_id": 12, "text": "leg"}, {"name": "leg", "id": 22, "objs": ["original-15"], "ori_id": 13, "text": "leg"}, {"name": "leg", "id": 23, "objs": ["original-16"], "ori_id": 14, "text": "leg"}, {"name": "caster", "id": 24, "children": [{"name": "wheel", "id": 25, "objs": ["original-10"], "ori_id": 38, "text": "wheel"}, {"name": "wheel", "id": 26, "objs": ["original-11"], "ori_id": 39, "text": "wheel"}], "objs": ["original-8", "original-10", "original-11"], "text": "caster", "ori_id": 15}, {"name": "caster", "id": 27, "children": [{"name": "wheel", "id": 28, "objs": ["original-31"], "ori_id": 35, "text": "wheel"}, {"name": "wheel", "id": 29, "objs": ["original-30"], "ori_id": 36, "text": "wheel"}], "objs": ["original-28", "original-31", "original-30"], "text": "caster", "ori_id": 16}, {"name": "caster", "id": 30, "children": [{"name": "wheel", "id": 31, "objs": ["original-36"], "ori_id": 32, "text": "wheel"}, {"name": "wheel", "id": 32, "objs": ["original-35"], "ori_id": 33, "text": "wheel"}], "objs": ["original-33", "original-36", "original-35"], "text": "caster", "ori_id": 17}, {"name": "caster", "id": 33, "children": [{"name": "wheel", "id": 34, "objs": ["original-25"], "ori_id": 29, "text": "wheel"}, {"name": "wheel", "id": 35, "objs": ["original-26"], "ori_id": 30, "text": "wheel"}], "objs": ["original-23", "original-25", "original-26"], "text": "caster", "ori_id": 18}, {"name": "caster", "id": 36, "children": [{"name": "wheel", "id": 37, "objs": ["original-20"], "ori_id": 26, "text": "wheel"}, {"name": "wheel", "id": 38, "objs": ["original-21"], "ori_id": 27, "text": "wheel"}], "objs": ["original-18", "original-20", "original-21"], "text": "caster", "ori_id": 19}], "objs": ["original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21"], "text": "star_leg_set", "ori_id": 9}, {"name": "central_support", "id": 39, "objs": ["original-50"], "ori_id": 43, "text": "central_support"}, {"name": "central_support", "id": 40, "objs": ["original-37"], "ori_id": 44, "text": "central_support"}, {"name": "central_support", "id": 41, "objs": ["original-38"], "ori_id": 45, "text": "central_support"}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "star_leg_base", "ori_id": 6}], "objs": ["original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "chair_base", "ori_id": 5}], "objs": ["original-41", "original-45", "original-44", "original-48", "original-47", "original-49", "original-4", "original-3", "original-40", "original-51", "original-5", "original-12", "original-13", "original-14", "original-15", "original-16", "original-8", "original-10", "original-11", "original-28", "original-31", "original-30", "original-33", "original-36", "original-35", "original-23", "original-25", "original-26", "original-18", "original-20", "original-21", "original-50", "original-37", "original-38"], "text": "chair", "ori_id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/semantics.txt b/PartNetMobility/Chair/40067/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c06b0c22c4b676a30ab7322c60cee4ac52db369
--- /dev/null
+++ b/PartNetMobility/Chair/40067/semantics.txt
@@ -0,0 +1,19 @@
+link_0 hinge lever
+link_1 hinge knob
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge wheel
+link_5 hinge caster
+link_6 hinge wheel
+link_7 hinge wheel
+link_8 hinge caster
+link_9 hinge wheel
+link_10 hinge wheel
+link_11 hinge caster
+link_12 hinge wheel
+link_13 hinge wheel
+link_14 hinge caster
+link_15 hinge wheel
+link_16 hinge wheel
+link_17 slider+ seat
+link_18 free chair_leg
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_10.mtl b/PartNetMobility/Chair/40067/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_10.obj b/PartNetMobility/Chair/40067/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5698ef363fde4ea9b0f654451f4d60815ab57809
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_10.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
+o kolečko1/kolečko/mesh5/mesh5-geometry#mesh5-geometry
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_11.mtl b/PartNetMobility/Chair/40067/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_11.obj b/PartNetMobility/Chair/40067/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff776e90606b700055ec190cfeb48c3b1cfa1705
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_11.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_12.mtl b/PartNetMobility/Chair/40067/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_12.obj b/PartNetMobility/Chair/40067/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93c22d51b0c7a593fabf982b7a3ec8949c915218
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_12.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 12
+mtllib original_12.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_13.mtl b/PartNetMobility/Chair/40067/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_13.obj b/PartNetMobility/Chair/40067/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417cca215bfd4a11b11efec1cfd00b03fbeb8fe1
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_13.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 13
+mtllib original_13.mtl
+o Komponenta_1_2/Komponenta_1/mesh7/mesh7-geometry#mesh7-geometry
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_14.mtl b/PartNetMobility/Chair/40067/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_14.obj b/PartNetMobility/Chair/40067/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d0630f4a10fe47c0b1b506155105f1fea4bbc6b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_14.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 14
+mtllib original_14.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_15.mtl b/PartNetMobility/Chair/40067/textured_objs/original_15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_15.obj b/PartNetMobility/Chair/40067/textured_objs/original_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df852d17647953cf738050afbfc9fc29fb769709
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_15.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 15
+mtllib original_15.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_16.mtl b/PartNetMobility/Chair/40067/textured_objs/original_16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_16.obj b/PartNetMobility/Chair/40067/textured_objs/original_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb596990faccf1d444107650ec8b0b7f318acbd
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_16.obj
@@ -0,0 +1,12278 @@
+# SSTK version 0.8.0
+# 16
+mtllib original_16.mtl
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index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_18.obj b/PartNetMobility/Chair/40067/textured_objs/original_18.obj
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index 0000000000000000000000000000000000000000..d20963550803d55f1152afd5dace518aa38f040b
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_20.mtl b/PartNetMobility/Chair/40067/textured_objs/original_20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_20.obj b/PartNetMobility/Chair/40067/textured_objs/original_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6ced808da6209c328310695efd7a858db6adee4
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_20.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 20
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_21.mtl b/PartNetMobility/Chair/40067/textured_objs/original_21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_21.obj b/PartNetMobility/Chair/40067/textured_objs/original_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d29999aa6dbbd24d8770ddcdfbe974aa7348f2da
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_21.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 21
+mtllib original_21.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_23.mtl b/PartNetMobility/Chair/40067/textured_objs/original_23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_23.obj b/PartNetMobility/Chair/40067/textured_objs/original_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba16f1b8f081f41bfbc146dae419e7f26693ac88
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_23.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 23
+mtllib original_23.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_25.mtl b/PartNetMobility/Chair/40067/textured_objs/original_25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_25.obj b/PartNetMobility/Chair/40067/textured_objs/original_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e6d65c5ab63239065849c87c68f6eb12ca6e51b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_25.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 25
+mtllib original_25.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_26.mtl b/PartNetMobility/Chair/40067/textured_objs/original_26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_26.obj b/PartNetMobility/Chair/40067/textured_objs/original_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a604364599335dd0fd452bb492bb1d95b62345c8
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_26.obj
@@ -0,0 +1,3667 @@
+# SSTK version 0.8.0
+# 26
+mtllib original_26.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_28.mtl b/PartNetMobility/Chair/40067/textured_objs/original_28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_28.obj b/PartNetMobility/Chair/40067/textured_objs/original_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c8f8527ea9cce2365500e5917bef5adfe096e9b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_28.obj
@@ -0,0 +1,1924 @@
+# SSTK version 0.8.0
+# 28
+mtllib original_28.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_3.mtl b/PartNetMobility/Chair/40067/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12eb21b9ece19a4ae00d82d0016606d3ed072806
--- /dev/null
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_3.obj b/PartNetMobility/Chair/40067/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..384d63dea287a3a1a3b49ea002b9b4274f884755
--- /dev/null
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_30.mtl b/PartNetMobility/Chair/40067/textured_objs/original_30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_30.obj b/PartNetMobility/Chair/40067/textured_objs/original_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..495794f0a4899616753908b4febfdd51c453e74f
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_30.obj
@@ -0,0 +1,3667 @@
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+mtllib original_30.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_31.mtl b/PartNetMobility/Chair/40067/textured_objs/original_31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_31.obj b/PartNetMobility/Chair/40067/textured_objs/original_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4adc73f281c3afc1f0b2b0df5ea1759e7bd10e32
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_31.obj
@@ -0,0 +1,3667 @@
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+mtllib original_31.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_33.mtl b/PartNetMobility/Chair/40067/textured_objs/original_33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_33.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_33.obj b/PartNetMobility/Chair/40067/textured_objs/original_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcc5fc660da4cef1e47cb2dcabff989cade201a3
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_33.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_35.mtl b/PartNetMobility/Chair/40067/textured_objs/original_35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_35.obj b/PartNetMobility/Chair/40067/textured_objs/original_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf07c792cfc87b3e1e3c327b958c5724a12913a
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_35.obj
@@ -0,0 +1,3667 @@
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_36.mtl b/PartNetMobility/Chair/40067/textured_objs/original_36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_36.obj b/PartNetMobility/Chair/40067/textured_objs/original_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ad488fcd2e7c8760ec94eafa648e927655b53d5
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_36.obj
@@ -0,0 +1,3667 @@
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+# 36
+mtllib original_36.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_38.mtl b/PartNetMobility/Chair/40067/textured_objs/original_38.mtl
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index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_38.obj b/PartNetMobility/Chair/40067/textured_objs/original_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d34b7d382715d6380f1607826c00284822edde09
--- /dev/null
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_4.mtl b/PartNetMobility/Chair/40067/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_4.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_4.obj b/PartNetMobility/Chair/40067/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83478acc4aee989522d917b09790b7ea7f1043ad
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_4.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_40.mtl b/PartNetMobility/Chair/40067/textured_objs/original_40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_40.obj b/PartNetMobility/Chair/40067/textured_objs/original_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..808156f433a32504781505113f5aae2635888644
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_40.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_41.mtl b/PartNetMobility/Chair/40067/textured_objs/original_41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb99d6ff0ec37606420966ab90a422ab56dc5c2b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_41.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
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+
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_41.obj b/PartNetMobility/Chair/40067/textured_objs/original_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10c3e339de8718996fb596e897f0ce89acad98f
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_41.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_44.mtl b/PartNetMobility/Chair/40067/textured_objs/original_44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f436beeed7092e2891706b18ed595b89bb4f469
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_44.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_2
+illum 3
+d 1
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+
+newmtl material_1_2
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+d 1
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+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_44.obj b/PartNetMobility/Chair/40067/textured_objs/original_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e73357441bae473eb3f8f86dd35fd71ee01143
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_44.obj
@@ -0,0 +1,30690 @@
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_45.mtl b/PartNetMobility/Chair/40067/textured_objs/original_45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d388af84afe287592789c8957f7a9c9933a90f7
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_45.obj b/PartNetMobility/Chair/40067/textured_objs/original_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a66886a22d57fc67cde3768249fc905fcfa2ef
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_45.obj
@@ -0,0 +1,4427 @@
+# SSTK version 0.8.0
+# 45
+mtllib original_45.mtl
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_47.mtl b/PartNetMobility/Chair/40067/textured_objs/original_47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7f436beeed7092e2891706b18ed595b89bb4f469
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_47.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
+newmtl material_1_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_47.obj b/PartNetMobility/Chair/40067/textured_objs/original_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c846813c2385b9408c543746209d910fce675ead
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_47.obj
@@ -0,0 +1,30690 @@
+# SSTK version 0.8.0
+# 47
+mtllib original_47.mtl
+o Subsurf_21_2/Subsurf_21_1_2/mesh33/mesh33-geometry#mesh33-geometry
+v -0.338455 -0.257613 -0.090296
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_48.mtl b/PartNetMobility/Chair/40067/textured_objs/original_48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1d388af84afe287592789c8957f7a9c9933a90f7
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_48.obj b/PartNetMobility/Chair/40067/textured_objs/original_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c7e15c5f23ac0bd03617fbdc7c3683b035c4814
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_48.obj
@@ -0,0 +1,4427 @@
+# SSTK version 0.8.0
+# 48
+mtllib original_48.mtl
+o Subsurf_16_2/Subsurf_16_1_2/mesh34/mesh34-geometry#mesh34-geometry
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_49.mtl b/PartNetMobility/Chair/40067/textured_objs/original_49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb99d6ff0ec37606420966ab90a422ab56dc5c2b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_49.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 20
+Kd 1 1 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
+newmtl material_1_0
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_49.obj b/PartNetMobility/Chair/40067/textured_objs/original_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82efd582118f5e8603b6e0ba16eed8186f389f59
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_49.obj
@@ -0,0 +1,8498 @@
+# SSTK version 0.8.0
+# 49
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_5.mtl b/PartNetMobility/Chair/40067/textured_objs/original_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0 0 0 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_5.obj b/PartNetMobility/Chair/40067/textured_objs/original_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f78c21c657a51d72081ca526d4e107a361fa14
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_5.obj
@@ -0,0 +1,2141 @@
+# SSTK version 0.8.0
+# 5
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_50.mtl b/PartNetMobility/Chair/40067/textured_objs/original_50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 0 0 0 
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+
diff --git a/PartNetMobility/Chair/40067/textured_objs/original_50.obj b/PartNetMobility/Chair/40067/textured_objs/original_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7212b542b402412fade2ee9e9dbcf1d9f275087
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_50.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_51.mtl b/PartNetMobility/Chair/40067/textured_objs/original_51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_51.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_51.obj b/PartNetMobility/Chair/40067/textured_objs/original_51.obj
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index 0000000000000000000000000000000000000000..ce6ec0cbe9ac00da449aeac24df60ab32993ad17
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_51.obj
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_8.mtl b/PartNetMobility/Chair/40067/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cf66029e4b5f41b5b81412add1b5c766dbbbc52
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Chair/40067/textured_objs/original_8.obj b/PartNetMobility/Chair/40067/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1692aaebd53929778890c43457d40a6cf16e8643
--- /dev/null
+++ b/PartNetMobility/Chair/40067/textured_objs/original_8.obj
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diff --git a/PartNetMobility/Chair/40067/tree_hier.html b/PartNetMobility/Chair/40067/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1bf974baa8c4ab7b6a7608a3485fab295c37ed8b
--- /dev/null
+++ b/PartNetMobility/Chair/40067/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>53 back_surface Back Surface</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>51 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>49 armrest_soft_surface Armrest Soft Surface</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>46 seat_surface Seat Surface</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>54 back_soft_surface Back Soft Surface</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>47 seat_soft_surface Seat Soft Surface</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 mechanical_control Mechanical Control</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>43 central_support Central Support</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 central_support Central Support</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 central_support Central Support</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>40 lever Lever</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 knob Knob</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 mounting_plate Mounting Plane</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>37 caster_yoke Caster Yoke</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel Wheel</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 wheel Wheel</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 wheel Wheel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 caster_yoke Caster Yoke</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel Wheel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 wheel Wheel</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>25 caster_yoke Caster Yoke</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 wheel Wheel</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40067/tree_hier_after_merging.html b/PartNetMobility/Chair/40067/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..87e4a28ebb46463e96375cd3792848d4fb647ac9
--- /dev/null
+++ b/PartNetMobility/Chair/40067/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 chair_arm chair_arm</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>7 chair_arm chair_arm</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>10 chair_seat chair_seat</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>13 chair_base chair_base</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_surface back_surface</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>8 arm_horizontal_bar arm_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 seat_surface seat_surface</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>14 star_leg_base star_leg_base</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 back_single_surface back_single_surface</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>15 mechanical_control mechanical_control</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 star_leg_set star_leg_set</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 central_support central_support</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support central_support</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 central_support central_support</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 lever lever</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 knob knob</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 leg leg</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 leg leg</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 caster caster</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>27 caster caster</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>33 caster caster</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>36 caster caster</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 wheel wheel</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 wheel wheel</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 wheel wheel</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 wheel wheel</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 wheel wheel</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>37 wheel wheel</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 wheel wheel</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
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+{"min": [-0.524509, -0.821324, -0.462748], "max": [0.578251, 0.706079, 0.642826]}
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+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNetMobility/Chair/40069/meta.json b/PartNetMobility/Chair/40069/meta.json
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+{"model_id": "7eb7574764b397c3e87e9b3f41906a3d", "anno_id": "40069", "user_id": "w15631998789", "time_in_sec": "826", "version": "9", "model_cat": "Chair"}
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diff --git a/PartNetMobility/Chair/40069/mobility.urdf b/PartNetMobility/Chair/40069/mobility.urdf
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+<?xml version="1.0" ?>
+<robot name="partnet_7eb7574764b397c3e87e9b3f41906a3d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="caster_yoke_34">
+			<origin xyz="0.3650545 0 0.3504625"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
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+		</visual>
+		<collision>
+			<origin xyz="0.3650545 0 0.3504625"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.3650545 0 -0.3504625"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel_35">
+			<origin xyz="0.22891202785928585 0.776031812175083 0.40636581650710635"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.22891202785928585 0.776031812175083 0.40636581650710635"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.13614247214071415 -0.776031812175083 -0.05590331650710634"/>
+		<axis xyz="0.8141654765943263 0 -0.5719559084005142"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="caster_yoke_32">
+			<origin xyz="-0.230718 0 0.42814549999999996"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.230718 0 0.42814549999999996"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.230718 0 -0.42814549999999996"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_33">
+			<origin xyz="-0.205447430038544 0.7759030143873322 0.40513519551933946"/>
+			<geometry>
+				<mesh filename="textured_objs/original_42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.205447430038544 0.7759030143873322 0.40513519551933946"/>
+			<geometry>
+				<mesh filename="textured_objs/original_42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.02527056996145602 -0.7759030143873322 0.023010304480660493"/>
+		<axis xyz="-0.80563871526212 0 -0.4650273135525574"/>
+		<child link="link_3"/>
+		<parent link="link_2"/>
+	</joint>
+	<link name="link_4">
+		<visual name="caster_yoke_30">
+			<origin xyz="-0.5530345 0 -0.136776"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5530345 0 -0.136776"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.5530345 0 0.136776"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel_31">
+			<origin xyz="-0.5272980286687028 0.7762537194383103 -0.09673327193039934"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
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+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
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+		<axis xyz="0.1968157944773454 None -0.956361318780039"/>
+		<child link="link_5"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_6">
+		<visual name="caster_yoke_28">
+			<origin xyz="-0.093673 0 -0.6212325000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.093673 0 -0.6212325000000001"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="0.093673 0 0.6212325000000001"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel_29">
+			<origin xyz="0.0021647097017244293 0.7746797783821 -0.5959300389431063"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0021647097017244293 0.7746797783821 -0.5959300389431063"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.09583770970172444 -0.7746797783821 -0.02530246105689382"/>
+		<axis xyz="1.2 None -0.07238665634015395"/>
+		<child link="link_7"/>
+		<parent link="link_6"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel_26">
+			<origin xyz="0.517370638446166 0.7753969934536448 -0.18606456461615717"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.517370638446166 0.7753969934536448 -0.18606456461615717"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.021947138446166026 -0.7753969934536448 -0.14341593538384279"/>
+		<axis xyz="-0.36306412108601 0 -0.9214181924811561"/>
+		<child link="link_8"/>
+		<parent link="link_9"/>
+	</joint>
+	<link name="link_9">
+		<visual name="caster_yoke_27">
+			<origin xyz="0.4954235 0 -0.32948049999999995"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
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+			<origin xyz="0.4954235 0 -0.32948049999999995"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="-0.4954235 0 0.32948049999999995"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_9"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_10">
+		<visual name="arm_holistic_frame_45">
+			<origin xyz="0.0027324999999999997 0 -0.08132962234844913"/>
+			<geometry>
+				<mesh filename="textured_objs/original_54.obj"/>
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+		<visual name="arm_holistic_frame_44">
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+			<geometry>
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+			<geometry>
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+		<visual name="back_hard_surface_56">
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+		</visual>
+		<visual name="leg_10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</visual>
+		<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_38.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_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.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_33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_10_helper"/>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="-0.0027324999999999997 0 0.08132962234844913"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10_helper"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.07600000000000007"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Chair/40069/mobility_v2.json b/PartNetMobility/Chair/40069/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3344e855b3d2cb8d55b384734a7c6d9f93485ea
--- /dev/null
+++ b/PartNetMobility/Chair/40069/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":34,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.3650545,0,-0.3504625],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":0,"joint":"hinge","name":"wheel","parts":[{"id":35,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.22891202785928585,-0.776031812175083,-0.40636581650710635],"direction":[0.8141654765943263,0,-0.5719559084005142]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":32,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.230718,0,-0.42814549999999996],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":2,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.205447430038544,-0.7759030143873322,-0.40513519551933946],"direction":[-0.80563871526212,0,-0.4650273135525574]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":30,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.5530345,0,0.136776],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":4,"joint":"hinge","name":"wheel","parts":[{"id":31,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5272980286687028,-0.7762537194383103,0.09673327193039934],"direction":[0.1968157944773454,null,-0.956361318780039]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":28,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[0.093673,0,0.6212325000000001],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":6,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.0021647097017244293,-0.7746797783821,0.5959300389431063],"direction":[1.2,null,-0.07238665634015395]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":9,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.517370638446166,-0.7753969934536448,0.18606456461615717],"direction":[-0.36306412108601,0,-0.9214181924811561]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":11,"joint":"hinge","name":"caster_yoke","parts":[{"id":27,"name":"caster_yoke","children":[]}],"jointData":{"axis":{"origin":[-0.4954235,0,0.32948049999999995],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":11,"joint":"slider","name":"arm_holistic_frame","parts":[{"id":45,"name":"arm_holistic_frame","children":[]},{"id":44,"name":"arm_holistic_frame","children":[]},{"id":47,"name":"back_support","children":[]},{"id":58,"name":"back_frame_vertical_bar","children":[]},{"id":59,"name":"back_frame_vertical_bar","children":[]},{"id":56,"name":"back_hard_surface","children":[]},{"id":57,"name":"seat_hard_surface","children":[]},{"id":61,"name":"seat_frame_vertical_bar","children":[]},{"id":62,"name":"seat_frame_vertical_bar","children":[]},{"id":39,"name":"central_support","children":[]},{"id":50,"name":"seat_connector","children":[]}],"jointData":{"axis":{"origin":[-0.0027324999999999997,0,0.08132962234844913],"direction":[0,-1,0]},"limit":{"a":0,"b":0.07600000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":11,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":40,"name":"central_support","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]}],"jointData":{}}]
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\ No newline at end of file
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@@ -0,0 +1 @@
+9 arm_holistic_frame arm_holistic_frame
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40069/point_sample/label_10000.txt b/PartNetMobility/Chair/40069/point_sample/label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb692dd5cd9062cb91d5ec7768ce817da7105fb
--- /dev/null
+++ b/PartNetMobility/Chair/40069/point_sample/label_10000.txt
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diff --git a/PartNetMobility/Chair/40069/point_sample/ply_10000.ply b/PartNetMobility/Chair/40069/point_sample/ply_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..83107e814901c0d4dd39a9890431db93f32f67d8
--- /dev/null
+++ b/PartNetMobility/Chair/40069/point_sample/ply_10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/PartNetMobility/Chair/40069/point_sample/pts_10000.txt b/PartNetMobility/Chair/40069/point_sample/pts_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..793415a4ac7f879051675fa1ede05e28e46b1d23
--- /dev/null
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diff --git a/PartNetMobility/Chair/40069/point_sample/sample_points_all_label_10000.txt b/PartNetMobility/Chair/40069/point_sample/sample_points_all_label_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..58902562e356361467c729207cdef328ad6e6130
--- /dev/null
+++ b/PartNetMobility/Chair/40069/point_sample/sample_points_all_label_10000.txt
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diff --git a/PartNetMobility/Chair/40069/point_sample/sample_points_all_pts_label_10000.ply b/PartNetMobility/Chair/40069/point_sample/sample_points_all_pts_label_10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7a38dd39f4de5552539419519d92eb9315c0229f
--- /dev/null
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new file mode 100644
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diff --git a/PartNetMobility/Chair/40069/point_sample/sample_points_all_pts_nor_rgba_10000.txt b/PartNetMobility/Chair/40069/point_sample/sample_points_all_pts_nor_rgba_10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e369d6d2a4e662fb7d1344dc648a60aa43af3037
--- /dev/null
+++ b/PartNetMobility/Chair/40069/point_sample/sample_points_all_pts_nor_rgba_10000.txt
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diff --git a/PartNetMobility/Chair/40069/result.json b/PartNetMobility/Chair/40069/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e464676dc086e387069d86c2af9b4cc478298dcc
--- /dev/null
+++ b/PartNetMobility/Chair/40069/result.json
@@ -0,0 +1 @@
+[{"text": "Sitting Furniture", "children": [{"text": "Chair Back", "children": [{"text": "Back Support", "objs": ["original-44"], "id": 47, "name": "back_support"}, {"text": "Back Frame", "children": [{"text": "Back Frame Vertical Bar", "objs": ["new-5"], "id": 58, "name": "back_frame_vertical_bar"}, {"text": "Back Frame Vertical Bar", "objs": ["new-3"], "id": 59, "name": "back_frame_vertical_bar"}], "id": 48, "name": "back_frame"}, {"text": "Back Surface", "children": [{"text": "Back Hard Surface", "objs": ["new-1"], "id": 56, "name": "back_hard_surface"}], "id": 55, "name": "back_surface"}], "id": 1, "name": "chair_back"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-54"], "id": 45, "name": "arm_holistic_frame"}], "id": 2, "name": "chair_arm"}, {"text": "Chair Arm", "children": [{"text": "Arm Holistic Frame", "objs": ["original-49"], "id": 44, "name": "arm_holistic_frame"}], "id": 3, "name": "chair_arm"}, {"text": "Chair Seat", "children": [{"text": "Seat Surface", "children": [{"text": "Seat Hard Surface", "objs": ["original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56"], "id": 57, "name": "seat_hard_surface"}], "id": 41, "name": "seat_surface"}, {"text": "Seat Frame", "children": [{"text": "Seat Frame Vertical Bar", "objs": ["new-2"], "id": 61, "name": "seat_frame_vertical_bar"}, {"text": "Seat Frame Vertical Bar", "objs": ["new-4"], "id": 62, "name": "seat_frame_vertical_bar"}], "id": 60, "name": "seat_frame"}], "id": 4, "name": "chair_seat"}, {"text": "Chair Base", "children": [{"text": "Star-shape Leg Base", "children": [{"text": "Star-shape Leg Set", "children": [{"text": "Leg", "objs": ["original-38", "original-39"], "id": 10, "name": "leg"}, {"text": "Leg", "objs": ["original-14", "original-15"], "id": 11, "name": "leg"}, {"text": "Leg", "objs": ["original-20", "original-21"], "id": 12, "name": "leg"}, {"text": "Leg", "objs": ["original-32", "original-33"], "id": 13, "name": "leg"}, {"text": "Leg", "objs": ["original-26", "original-27"], "id": 14, "name": "leg"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-29"], "id": 34, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-30"], "id": 35, "name": "wheel"}], "id": 15, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-41"], "id": 32, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-42"], "id": 33, "name": "wheel"}], "id": 16, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-17"], "id": 30, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-18"], "id": 31, "name": "wheel"}], "id": 17, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Caster Yoke", "objs": ["original-23"], "id": 28, "name": "caster_yoke"}, {"text": "Wheel", "objs": ["original-24"], "id": 29, "name": "wheel"}], "id": 18, "name": "caster"}, {"text": "Wheel Assembly", "children": [{"text": "Wheel", "objs": ["original-36"], "id": 26, "name": "wheel"}, {"text": "Caster Yoke", "objs": ["original-35"], "id": 27, "name": "caster_yoke"}], "id": 19, "name": "caster"}], "id": 9, "name": "star_leg_set"}, {"text": "Central Support", "objs": ["original-2"], "id": 39, "name": "central_support"}, {"text": "Central Support", "objs": ["original-3"], "id": 40, "name": "central_support"}, {"text": "Seat Connector", "objs": ["original-8", "original-9", "original-6", "original-10", "original-11", "original-7"], "id": 50, "name": "seat_connector"}], "id": 6, "name": "star_leg_base"}], "id": 5, "name": "chair_base"}], "id": 0, "name": "chair"}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40069/result_after_merging.json b/PartNetMobility/Chair/40069/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c0f93390bb7cf79ceedcfc33980d93cdb9b2899
--- /dev/null
+++ b/PartNetMobility/Chair/40069/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-44", "new-5", "new-3", "new-1", "original-54", "original-49", "original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56", "new-2", "new-4", "original-38", "original-39", "original-14", "original-15", "original-20", "original-21", "original-32", "original-33", "original-26", "original-27", "original-29", "original-30", "original-41", "original-42", "original-17", "original-18", "original-23", "original-24", "original-36", "original-35", "original-2", "original-3", "original-8", "original-9", "original-6", "original-10", "original-11", "original-7"], "ori_id": 0, "children": [{"objs": ["original-44", "new-5", "new-3", "new-1"], "ori_id": 1, "children": [{"objs": ["original-44"], "name": "back_support", "text": "back_support", "ori_id": 47, "id": 2}, {"objs": ["new-5", "new-3"], "ori_id": 48, "children": [{"objs": ["new-5"], "name": "back_frame_vertical_bar", "text": "back_frame_vertical_bar", "ori_id": 58, "id": 4}, {"objs": ["new-3"], "name": "back_frame_vertical_bar", "text": "back_frame_vertical_bar", "ori_id": 59, "id": 5}], "name": "back_frame", "text": "back_frame", "id": 3}, {"objs": ["new-1"], "ori_id": 55, "children": [{"objs": ["new-1"], "name": "back_single_surface", "text": "back_single_surface", "ori_id": 56, "id": 7}], "name": "back_surface", "text": "back_surface", "id": 6}], "name": "chair_back", "text": "chair_back", "id": 1}, {"objs": ["original-54"], "ori_id": 2, "children": [{"objs": ["original-54"], "name": "arm_holistic_frame", "text": "arm_holistic_frame", "ori_id": 45, "id": 9}], "name": "chair_arm", "text": "chair_arm", "id": 8}, {"objs": ["original-49"], "ori_id": 3, "children": [{"objs": ["original-49"], "name": "arm_holistic_frame", "text": "arm_holistic_frame", "ori_id": 44, "id": 11}], "name": "chair_arm", "text": "chair_arm", "id": 10}, {"objs": ["original-4", "new-0", "original-51", "original-48", "original-50", "original-55", "original-53", "original-56", 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"original-23", "original-24", "original-36", "original-35"], "ori_id": 9, "children": [{"objs": ["original-38", "original-39"], "name": "leg", "text": "leg", "ori_id": 10, "id": 21}, {"objs": ["original-14", "original-15"], "name": "leg", "text": "leg", "ori_id": 11, "id": 22}, {"objs": ["original-20", "original-21"], "name": "leg", "text": "leg", "ori_id": 12, "id": 23}, {"objs": ["original-32", "original-33"], "name": "leg", "text": "leg", "ori_id": 13, "id": 24}, {"objs": ["original-26", "original-27"], "name": "leg", "text": "leg", "ori_id": 14, "id": 25}, {"objs": ["original-29", "original-30"], "ori_id": 15, "children": [{"objs": ["original-30"], "name": "wheel", "text": "wheel", "ori_id": 35, "id": 27}], "name": "caster", "text": "caster", "id": 26}, {"objs": ["original-41", "original-42"], "ori_id": 16, "children": [{"objs": ["original-42"], "name": "wheel", "text": "wheel", "ori_id": 33, "id": 29}], "name": "caster", "text": "caster", "id": 28}, {"objs": ["original-17", "original-18"], "ori_id": 17, "children": [{"objs": ["original-18"], "name": "wheel", "text": "wheel", "ori_id": 31, "id": 31}], "name": "caster", "text": "caster", "id": 30}, {"objs": ["original-23", "original-24"], "ori_id": 18, "children": [{"objs": ["original-24"], "name": "wheel", "text": "wheel", "ori_id": 29, "id": 33}], "name": "caster", "text": "caster", "id": 32}, {"objs": ["original-36", "original-35"], "ori_id": 19, "children": [{"objs": ["original-36"], "name": "wheel", "text": "wheel", "ori_id": 26, "id": 35}], "name": "caster", "text": "caster", "id": 34}], "name": "star_leg_set", "text": "star_leg_set", "id": 20}, {"objs": ["original-2"], "name": "central_support", "text": "central_support", "ori_id": 39, "id": 36}, {"objs": ["original-3"], "name": "central_support", "text": "central_support", "ori_id": 40, "id": 37}], "name": "star_leg_base", "text": "star_leg_base", "id": 19}], "name": "chair_base", "text": "chair_base", "id": 18}], "name": "chair", "text": "chair", "id": 0}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40069/semantics.txt b/PartNetMobility/Chair/40069/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4157b0401abb3b2a381bbe1b08ac29e56d6718d3
--- /dev/null
+++ b/PartNetMobility/Chair/40069/semantics.txt
@@ -0,0 +1,12 @@
+link_0 hinge caster
+link_1 hinge wheel
+link_2 hinge caster
+link_3 hinge wheel
+link_4 hinge caster
+link_5 hinge wheel
+link_6 hinge caster
+link_7 hinge wheel
+link_8 hinge wheel
+link_9 hinge caster
+link_10 slider+ seat
+link_11 free chair_leg
diff --git a/PartNetMobility/Chair/40069/textured_objs/new_0.mtl b/PartNetMobility/Chair/40069/textured_objs/new_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..933a1aa63d4e8c4799532b598fefc8405a4b7af2
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/new_0.mtl
@@ -0,0 +1,9 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
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+map_Kd ../images/texture_0.jpg
+
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/new_0.obj b/PartNetMobility/Chair/40069/textured_objs/new_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff5cbf93093caad129a36754dfd7fac5ce65c9cf
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/new_0.obj
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\ No newline at end of file
diff --git a/PartNetMobility/Chair/40069/textured_objs/new_2.mtl b/PartNetMobility/Chair/40069/textured_objs/new_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_2.obj b/PartNetMobility/Chair/40069/textured_objs/new_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19e1a15d6c7d542a5d56034da3725276ebce28df
--- /dev/null
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_3.mtl b/PartNetMobility/Chair/40069/textured_objs/new_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/new_3.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_3.obj b/PartNetMobility/Chair/40069/textured_objs/new_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d6d9152cf383ab8911ce0aebb5a0bc2c9baeb0e
--- /dev/null
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_4.mtl b/PartNetMobility/Chair/40069/textured_objs/new_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_4.obj b/PartNetMobility/Chair/40069/textured_objs/new_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2dbe1e923eb0b9a91919131ec0092a79f6bba62
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_5.mtl b/PartNetMobility/Chair/40069/textured_objs/new_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee5178b9c0d8c6ca895288eda56c7c3015ebdfea
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diff --git a/PartNetMobility/Chair/40069/textured_objs/new_5.obj b/PartNetMobility/Chair/40069/textured_objs/new_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c8de1252283488a772c272cb872e491a54d43aa
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_10.mtl b/PartNetMobility/Chair/40069/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94878f714c2e6530e104cae5fe4bc513f32d2bf1
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_10.obj b/PartNetMobility/Chair/40069/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41a8b0170ed68353d8c55a8548f698028b4b881b
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_10.obj
@@ -0,0 +1,242 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_11.mtl b/PartNetMobility/Chair/40069/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..94878f714c2e6530e104cae5fe4bc513f32d2bf1
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_11.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_11.obj b/PartNetMobility/Chair/40069/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89f0fd0fe4caa2ed5a278bca9fe6ecacbaf548e6
--- /dev/null
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_14.mtl b/PartNetMobility/Chair/40069/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_14.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/Chair/40069/textured_objs/original_14.obj b/PartNetMobility/Chair/40069/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..142f6f860b5909e012021c106b9c063952d5b0d4
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_14.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_15.mtl b/PartNetMobility/Chair/40069/textured_objs/original_15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_15.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_15.obj b/PartNetMobility/Chair/40069/textured_objs/original_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dade8af83a5aaa8f4b1e77af83a22fa991f9f12
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_15.obj
@@ -0,0 +1,3430 @@
+# SSTK version 0.8.0
+# 15
+mtllib original_15.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_17.mtl b/PartNetMobility/Chair/40069/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_17.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_17.obj b/PartNetMobility/Chair/40069/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe49df9d58a7afb054aa11d3a4494a925210c9
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_17.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 17
+mtllib original_17.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_18.mtl b/PartNetMobility/Chair/40069/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.2196078431372549 0.2196078431372549 
+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/Chair/40069/textured_objs/original_18.obj b/PartNetMobility/Chair/40069/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0cf92deec2de25d70ffcc7d97939417ed807e1f
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_18.obj
@@ -0,0 +1,2112 @@
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+# 18
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_2.mtl b/PartNetMobility/Chair/40069/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.2196078431372549 0.2196078431372549 
+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/Chair/40069/textured_objs/original_2.obj b/PartNetMobility/Chair/40069/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15fb07064ecdf493eb81cb4bb9f2d49df3f777db
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_2.obj
@@ -0,0 +1,174 @@
+# SSTK version 0.8.0
+# 2
+mtllib original_2.mtl
+o Group2/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_20.mtl b/PartNetMobility/Chair/40069/textured_objs/original_20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_20.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_20.obj b/PartNetMobility/Chair/40069/textured_objs/original_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50906b998336d2ab94d4d9e731234353424f3dcf
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_20.obj
@@ -0,0 +1,933 @@
+# SSTK version 0.8.0
+# 20
+mtllib original_20.mtl
+o Group10/mesh11/mesh11-geometry#mesh11-geometry
+v 0.011857 -0.593034 0.081928
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_21.mtl b/PartNetMobility/Chair/40069/textured_objs/original_21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_21.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
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_21.obj b/PartNetMobility/Chair/40069/textured_objs/original_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cded6d68e721285e4ac01c12a49ca317d8dc8c7
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_21.obj
@@ -0,0 +1,3430 @@
+# SSTK version 0.8.0
+# 21
+mtllib original_21.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_23.mtl b/PartNetMobility/Chair/40069/textured_objs/original_23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_23.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_23.obj b/PartNetMobility/Chair/40069/textured_objs/original_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf974da8143aaa0ad9d393fb51f0bc5b3b61d506
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_23.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 23
+mtllib original_23.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_24.mtl b/PartNetMobility/Chair/40069/textured_objs/original_24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_24.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.2196078431372549 0.2196078431372549 
+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/Chair/40069/textured_objs/original_24.obj b/PartNetMobility/Chair/40069/textured_objs/original_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..191a1abae09ff51c45fde6a80df71626a8652bcb
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_24.obj
@@ -0,0 +1,2112 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_26.mtl b/PartNetMobility/Chair/40069/textured_objs/original_26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_26.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_26.obj b/PartNetMobility/Chair/40069/textured_objs/original_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df83c3ea55020e1477f1fb9ee5327f14d7875d8b
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_26.obj
@@ -0,0 +1,933 @@
+# SSTK version 0.8.0
+# 26
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_27.mtl b/PartNetMobility/Chair/40069/textured_objs/original_27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_27.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_27.obj b/PartNetMobility/Chair/40069/textured_objs/original_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4547d30dce08afc3e822bd93dd9402bfee3d8a87
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_27.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_29.mtl b/PartNetMobility/Chair/40069/textured_objs/original_29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_29.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_29.obj b/PartNetMobility/Chair/40069/textured_objs/original_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3aaa986f9e06114e50e789d7fa6ad6cff9819eb1
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_29.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_3.mtl b/PartNetMobility/Chair/40069/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_3.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_3.obj b/PartNetMobility/Chair/40069/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5acd0314b79016eb846b58305012605235763ca6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_3.obj
@@ -0,0 +1,580 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_30.mtl b/PartNetMobility/Chair/40069/textured_objs/original_30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_30.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/Chair/40069/textured_objs/original_30.obj b/PartNetMobility/Chair/40069/textured_objs/original_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22b34966bee661ff06ac763bada4700d2fb671b5
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_30.obj
@@ -0,0 +1,2112 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_32.mtl b/PartNetMobility/Chair/40069/textured_objs/original_32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_32.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_32.obj b/PartNetMobility/Chair/40069/textured_objs/original_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fee527a1dd41be2ceb71817b62ed8319fd59e2e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_32.obj
@@ -0,0 +1,933 @@
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+# 32
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_33.mtl b/PartNetMobility/Chair/40069/textured_objs/original_33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_33.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_33.obj b/PartNetMobility/Chair/40069/textured_objs/original_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6959b9e0b646b56dffe2f03fe0543f9955eb68e3
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_33.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_35.mtl b/PartNetMobility/Chair/40069/textured_objs/original_35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_35.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_35.obj b/PartNetMobility/Chair/40069/textured_objs/original_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b6c82a123bb06d620cd448b6904136759a9d3e6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_35.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 35
+mtllib original_35.mtl
+o Circle06_1/Circle06/mesh13/mesh13-geometry#mesh13-geometry
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_36.mtl b/PartNetMobility/Chair/40069/textured_objs/original_36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_36.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_36.obj b/PartNetMobility/Chair/40069/textured_objs/original_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..466d0083218079b1f074e0e8c0e0d112da099579
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_36.obj
@@ -0,0 +1,2112 @@
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+# 36
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_38.mtl b/PartNetMobility/Chair/40069/textured_objs/original_38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_38.mtl
@@ -0,0 +1,14 @@
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+
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+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_38.obj b/PartNetMobility/Chair/40069/textured_objs/original_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cead11466afb9143f2e79175e2c3d75bc190c9af
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_38.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_39.mtl b/PartNetMobility/Chair/40069/textured_objs/original_39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_39.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_39.obj b/PartNetMobility/Chair/40069/textured_objs/original_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3443aafb66ac3be4d73e3baf9d9e8791b79d79f4
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_39.obj
@@ -0,0 +1,3430 @@
+# SSTK version 0.8.0
+# 39
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_4.mtl b/PartNetMobility/Chair/40069/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_4.obj b/PartNetMobility/Chair/40069/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ac02959d7584fbf6ecc1b6b2612cd405a3615f
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_4.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 4
+mtllib original_4.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v -0.009882 -0.240037 0.054646
+v 0.004417 -0.240037 0.054646
+v -0.002733 -0.240037 0.053704
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_41.mtl b/PartNetMobility/Chair/40069/textured_objs/original_41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_41.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_41.obj b/PartNetMobility/Chair/40069/textured_objs/original_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72dc94df4fc82245a53dacc993ece177c5d6b86b
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_41.obj
@@ -0,0 +1,5729 @@
+# SSTK version 0.8.0
+# 41
+mtllib original_41.mtl
+o Circle06_1/Circle06/mesh13/mesh13-geometry#mesh13-geometry
+v 0.204512 -0.759281 -0.460592
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_42.mtl b/PartNetMobility/Chair/40069/textured_objs/original_42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_42.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.23137254901960785 0.2196078431372549 0.2196078431372549 
+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/Chair/40069/textured_objs/original_42.obj b/PartNetMobility/Chair/40069/textured_objs/original_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b96dd052cca62482b784813d0cc31b0ca00e8101
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_42.obj
@@ -0,0 +1,2112 @@
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+# 42
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_44.mtl b/PartNetMobility/Chair/40069/textured_objs/original_44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_44.obj b/PartNetMobility/Chair/40069/textured_objs/original_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2947d5970fdd7968d27b3d92cbaa90aebc611c3
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_44.obj
@@ -0,0 +1,846 @@
+# SSTK version 0.8.0
+# 44
+mtllib original_44.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_48.mtl b/PartNetMobility/Chair/40069/textured_objs/original_48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_48.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_48.obj b/PartNetMobility/Chair/40069/textured_objs/original_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a52821b452d79df6598f33bd46fda8eee400628
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_48.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 48
+mtllib original_48.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_49.mtl b/PartNetMobility/Chair/40069/textured_objs/original_49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_49.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_49.obj b/PartNetMobility/Chair/40069/textured_objs/original_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13ba2f41bff1eba8fdbe06384d4832faaadd88c2
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_49.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_50.mtl b/PartNetMobility/Chair/40069/textured_objs/original_50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_50.obj b/PartNetMobility/Chair/40069/textured_objs/original_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6aa6794189b0a8f1a99c0e794744ca3849a25b8d
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_50.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 50
+mtllib original_50.mtl
+o Group14/mesh22/mesh22-geometry#mesh22-geometry
+v -0.417676 0.147831 -0.277454
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_51.mtl b/PartNetMobility/Chair/40069/textured_objs/original_51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_51.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.4392156862745098 0.4392156862745098 0.4392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_51.obj b/PartNetMobility/Chair/40069/textured_objs/original_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26f161bebdea4c83db0c94dfc8a8c9e965b46a1
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_51.obj
@@ -0,0 +1,119 @@
+# SSTK version 0.8.0
+# 51
+mtllib original_51.mtl
+o Group15/mesh23/mesh23-geometry#mesh23-geometry
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_53.mtl b/PartNetMobility/Chair/40069/textured_objs/original_53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_53.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_53.obj b/PartNetMobility/Chair/40069/textured_objs/original_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eb8d1ad852d073fff90f5441ba8a63ea5376386
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_53.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 53
+mtllib original_53.mtl
+o Group16/mesh26/mesh26-geometry#mesh26-geometry
+v 0.499015 -0.085525 -0.207948
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_54.mtl b/PartNetMobility/Chair/40069/textured_objs/original_54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e8571af14e5d515ad167dd58bd4abed4b9ea16a6
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_54.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_54.obj b/PartNetMobility/Chair/40069/textured_objs/original_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eaa686b9717f6f992f4b3b91a37b9b51a17d011
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_54.obj
@@ -0,0 +1,25642 @@
+# SSTK version 0.8.0
+# 54
+mtllib original_54.mtl
+o Group17/mesh28/mesh28-geometry#mesh28-geometry
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_55.mtl b/PartNetMobility/Chair/40069/textured_objs/original_55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c9a5fe9aafb4107b59a81d8615a855314fa7a23
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Chair/40069/textured_objs/original_55.obj b/PartNetMobility/Chair/40069/textured_objs/original_55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e262864c83d5fd4ce6d0bb4cabff4c5fe637fc
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_55.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 55
+mtllib original_55.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_56.mtl b/PartNetMobility/Chair/40069/textured_objs/original_56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_56.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_56.obj b/PartNetMobility/Chair/40069/textured_objs/original_56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0320dbf2dbbdf8eefcd3fee7ad6eabee7bb120fb
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_56.obj
@@ -0,0 +1,119 @@
+# SSTK version 0.8.0
+# 56
+mtllib original_56.mtl
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_6.mtl b/PartNetMobility/Chair/40069/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_6.obj b/PartNetMobility/Chair/40069/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90a0a724aedfd7c21d768088c37876c8f630c593
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_6.obj
@@ -0,0 +1,290 @@
+# SSTK version 0.8.0
+# 6
+mtllib original_6.mtl
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index 0000000000000000000000000000000000000000..bd4b65c34b88cf4d5463ad7687417868ff8d5935
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_7.obj b/PartNetMobility/Chair/40069/textured_objs/original_7.obj
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_9.mtl b/PartNetMobility/Chair/40069/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2446911155ddbb5856587133e45d188ab976544e
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diff --git a/PartNetMobility/Chair/40069/textured_objs/original_9.obj b/PartNetMobility/Chair/40069/textured_objs/original_9.obj
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index 0000000000000000000000000000000000000000..7b6da436656e5a7d0d763125d204b427bea841c4
--- /dev/null
+++ b/PartNetMobility/Chair/40069/textured_objs/original_9.obj
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diff --git a/PartNetMobility/Chair/40069/tree_hier.html b/PartNetMobility/Chair/40069/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc736ec13b3da04ec68499c728c11df128dd54af
--- /dev/null
+++ b/PartNetMobility/Chair/40069/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair Sitting Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back Chair Back</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 chair_arm Chair Arm</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>3 chair_arm Chair Arm</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 chair_seat Chair Seat</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 chair_base Chair Base</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>47 back_support Back Support</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 back_frame Back Frame</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>55 back_surface Back Surface</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>45 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>44 arm_holistic_frame Arm Holistic Frame</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>41 seat_surface Seat Surface</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>60 seat_frame Seat Frame</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>6 star_leg_base Star-shape Leg Base</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>58 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 back_frame_vertical_bar Back Frame Vertical Bar</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>56 back_hard_surface Back Hard Surface</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>57 seat_hard_surface Seat Hard Surface</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>61 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 seat_frame_vertical_bar Seat Frame Vertical Bar</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 star_leg_set Star-shape Leg Set</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>39 central_support Central Support</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 central_support Central Support</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>50 seat_connector Seat Connector</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 leg Leg</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 leg Leg</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 leg Leg</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 leg Leg</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 leg Leg</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 caster Wheel Assembly</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>16 caster Wheel Assembly</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>17 caster Wheel Assembly</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>18 caster Wheel Assembly</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>19 caster Wheel Assembly</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>34 caster_yoke Caster Yoke</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 wheel Wheel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster_yoke Caster Yoke</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 wheel Wheel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster_yoke Caster Yoke</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 wheel Wheel</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster_yoke Caster Yoke</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 wheel Wheel</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>26 wheel Wheel</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 caster_yoke Caster Yoke</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40069/tree_hier_after_merging.html b/PartNetMobility/Chair/40069/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..43e9c3c83586544d2828947f40c2f0b600d65a25
--- /dev/null
+++ b/PartNetMobility/Chair/40069/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 chair chair</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 chair_back chair_back</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 chair_arm chair_arm</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>10 chair_arm chair_arm</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>12 chair_seat chair_seat</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 chair_base chair_base</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 back_support back_support</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 back_frame back_frame</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td><p>6 back_surface back_surface</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>9 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 arm_holistic_frame arm_holistic_frame</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>13 seat_surface seat_surface</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>15 seat_frame seat_frame</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>19 star_leg_base star_leg_base</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_frame_vertical_bar back_frame_vertical_bar</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>7 back_single_surface back_single_surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>14 seat_single_surface seat_single_surface</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>16 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 seat_frame_bar seat_frame_bar</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>20 star_leg_set star_leg_set</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>36 central_support central_support</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 central_support central_support</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>21 leg leg</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 leg leg</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 leg leg</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 leg leg</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 leg leg</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 caster caster</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>28 caster caster</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>30 caster caster</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>32 caster caster</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>34 caster caster</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>27 wheel wheel</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>29 wheel wheel</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>31 wheel wheel</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>33 wheel wheel</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>35 wheel wheel</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40168/bounding_box.json b/PartNetMobility/Chair/40168/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa41ceba7331927ae8310343fa95257656bd63d
--- /dev/null
+++ b/PartNetMobility/Chair/40168/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.595389, -0.779101, -0.558142], "max": [0.593062, 0.810673, 0.585177]}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40168/images/texture_0.jpg b/PartNetMobility/Chair/40168/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1cbfc9262d3efb3a0872c51abe01215d9465ef9a
--- /dev/null
+++ b/PartNetMobility/Chair/40168/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b3db0e4f727a35d2ce7b1966372419fb15d79377adda6f562aa95a897a72c6a
+size 1837
diff --git a/PartNetMobility/Chair/40168/meta.json b/PartNetMobility/Chair/40168/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f3b583cde93aa2c7c607163b84279324b40b054
--- /dev/null
+++ b/PartNetMobility/Chair/40168/meta.json
@@ -0,0 +1 @@
+{"model_id": "811c349efc40c6feaf288f952624966", "anno_id": "40168", "user_id": "shape05", "time_in_sec": "385", "version": "4", "model_cat": "Chair"}
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40168/mobility.urdf b/PartNetMobility/Chair/40168/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c438861cbcd93139acd7bcbc8dffbd63907bc98e
--- /dev/null
+++ b/PartNetMobility/Chair/40168/mobility.urdf
@@ -0,0 +1,741 @@
+<?xml version="1.0" ?>
+<robot name="partnet_811c349efc40c6feaf288f952624966">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lever_43">
+			<origin xyz="0.08663812725804754 0.1477292507709976 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.08663812725804754 0.1477292507709976 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.09161512725804753 -0.1477292507709976 -0.056823"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_12"/>
+		<limit lower="0.0" upper="0.20106192982974674"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lever_44">
+			<origin xyz="-0.08782858145423231 0.1379207742877884 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08782858145423231 0.1379207742877884 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="0.08285158145423231 -0.1379207742877884 -0.056823"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_12"/>
+		<limit lower="-0.0" upper="0.20106192982974674"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel_41">
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original_38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.03424050135652712 -0.7313998264037611 -0.04638946615722139"/>
+		<axis xyz="-0.2760123304846159 -0.0002945439074830451 0.9611540493928836"/>
+		<child link="link_2"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_42">
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5249780501654557 0.7313998264037611 0.15098083059845893"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0.03424050135652712 -0.7313998264037611 -0.04638946615722139"/>
+		<axis xyz="-0.2760123304846159 -0.0002945439074830451 0.9611540493928836"/>
+		<child link="link_3"/>
+		<parent link="link_14"/>
+	</joint>
+	<link name="link_4">
+		<visual name="wheel_37">
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="-0.0006666514038856861 -0.7313732533845521 0.020076167880698215"/>
+		<axis xyz="-0.9993214504172013 -0.0020875243364418252 0.036773373223108224"/>
+		<child link="link_4"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_5">
+		<visual name="wheel_38">
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017212425981784695 0.7313732533845521 0.5092680747368981"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.0006666514038856861 -0.7313732533845521 0.020076167880698215"/>
+		<axis xyz="-0.9993214504172013 -0.0020875243364418252 0.036773373223108224"/>
+		<child link="link_5"/>
+		<parent link="link_15"/>
+	</joint>
+	<link name="link_6">
+		<visual name="wheel_33">
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.037509291601474315 -0.7314251792291601 -0.04422003904003455"/>
+		<axis xyz="0.342426876959796 -4.809964583497058e-05 0.9395444809172074"/>
+		<child link="link_6"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_7">
+		<visual name="wheel_34">
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5176517469256298 0.7314251792291601 0.18870106421570007"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="-0.037509291601474315 -0.7314251792291601 -0.04422003904003455"/>
+		<axis xyz="0.342426876959796 -4.809964583497058e-05 0.9395444809172074"/>
+		<child link="link_7"/>
+		<parent link="link_16"/>
+	</joint>
+	<link name="link_8">
+		<visual name="wheel_29">
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original_46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original_46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="0.012085030010775044 -0.7314265 -0.03495326308582347"/>
+		<axis xyz="0.7877619511607603 0 -0.6159797953694522"/>
+		<child link="link_8"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_9">
+		<visual name="wheel_30">
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original_47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3778363370334372 0.7314265 -0.483205965717323"/>
+			<geometry>
+				<mesh filename="textured_objs/original_47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="continuous">
+		<origin xyz="0.012085030010775044 -0.7314265 -0.03495326308582347"/>
+		<axis xyz="0.7877619511607603 0 -0.6159797953694522"/>
+		<child link="link_9"/>
+		<parent link="link_17"/>
+	</joint>
+	<link name="link_10">
+		<visual name="wheel_25">
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="-0.017397499313034304 -0.7314721903000174 -0.03590658568194949"/>
+		<axis xyz="0.8297053052480169 0.0007440671274425703 0.5582011759280028"/>
+		<child link="link_10"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_11">
+		<visual name="wheel_26">
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.34037500044103797 0.7314721903000174 -0.5069054484051658"/>
+			<geometry>
+				<mesh filename="textured_objs/original_43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="continuous">
+		<origin xyz="-0.017397499313034304 -0.7314721903000174 -0.03590658568194949"/>
+		<axis xyz="0.8297053052480169 0.0007440671274425703 0.5582011759280028"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_12">
+		<visual name="back_support_58">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_53.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector_60">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_54.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_connector_60">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="back_soft_surface_62">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_50.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_55">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_55">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar_56">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar_57">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_52">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="armrest_hard_surface_52">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_vertical_bar_53">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="arm_horizontal_bar_54">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_soft_surface_50">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="seat_support_51">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_47">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_45">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="mounting_plate_63">
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0049770000000000005 0 -0.056823"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_12"/>
+		<parent link="link_12_helper"/>
+	</joint>
+	<link name="link_13">
+		<visual name="central_support_46">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="central_support_48">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="leg_14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_13"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_14">
+		<visual name="caster_yoke_39">
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem_40">
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original_37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.5592185515219829 0 0.10459136444123754"/>
+			<geometry>
+				<mesh filename="textured_objs/original_36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="continuous">
+		<origin xyz="-0.5592185515219829 0 -0.10459136444123754"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_14"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_15">
+		<visual name="caster_yoke_35">
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem_36">
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01654577457789901 0 0.5293442426175963"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="continuous">
+		<origin xyz="-0.01654577457789901 0 -0.5293442426175963"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_15"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_16">
+		<visual name="caster_yoke_31">
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem_32">
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5551610385271041 0 0.14448102517566552"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="continuous">
+		<origin xyz="0.5551610385271041 0 -0.14448102517566552"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_16"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_17">
+		<visual name="caster_yoke_27">
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original_45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem_28">
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original_44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original_45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.3657513070226622 0 -0.5181592288031465"/>
+			<geometry>
+				<mesh filename="textured_objs/original_44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="continuous">
+		<origin xyz="0.3657513070226622 0 0.5181592288031465"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_17"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_18">
+		<visual name="caster_yoke_23">
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="caster_stem_24">
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original_41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.32297750112800366 0 -0.5428120340871153"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="continuous">
+		<origin xyz="-0.32297750112800366 0 0.5428120340871153"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_18"/>
+		<parent link="link_13"/>
+	</joint>
+	<link name="link_12_helper"/>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.0049770000000000005 0 0.056823"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12_helper"/>
+		<parent link="link_13"/>
+		<limit lower="0" upper="0.06800000000000006"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Chair/40168/mobility_v2.json b/PartNetMobility/Chair/40168/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..94bb2c83fbee2b3a08222fd00e8d563c78812262
--- /dev/null
+++ b/PartNetMobility/Chair/40168/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":12,"joint":"hinge","name":"lever","parts":[{"id":43,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[-0.08663812725804754,-0.1477292507709976,0],"direction":[0,0,1]},"limit":{"a":0,"b":11.52,"noLimit":false}}},{"id":1,"parent":12,"joint":"hinge","name":"lever","parts":[{"id":44,"name":"lever","children":[]}],"jointData":{"axis":{"origin":[0.08782858145423231,-0.1379207742877884,0],"direction":[0,0,1]},"limit":{"a":0,"b":-11.52,"noLimit":false}}},{"id":2,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":41,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5249780501654557,-0.7313998264037611,-0.15098083059845893],"direction":[-0.2760123304846159,-0.0002945439074830451,0.9611540493928836]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":14,"joint":"hinge","name":"wheel","parts":[{"id":42,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.5249780501654557,-0.7313998264037611,-0.15098083059845893],"direction":[-0.2760123304846159,-0.0002945439074830451,0.9611540493928836]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":4,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":37,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.017212425981784695,-0.7313732533845521,-0.5092680747368981],"direction":[-0.9993214504172013,-0.0020875243364418252,0.036773373223108224]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":15,"joint":"hinge","name":"wheel","parts":[{"id":38,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.017212425981784695,-0.7313732533845521,-0.5092680747368981],"direction":[-0.9993214504172013,-0.0020875243364418252,0.036773373223108224]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":33,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5176517469256298,-0.7314251792291601,-0.18870106421570007],"direction":[0.342426876959796,-0.00004809964583497058,0.9395444809172074]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":16,"joint":"hinge","name":"wheel","parts":[{"id":34,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.5176517469256298,-0.7314251792291601,-0.18870106421570007],"direction":[0.342426876959796,-0.00004809964583497058,0.9395444809172074]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":8,"parent":17,"joint":"hinge","name":"wheel","parts":[{"id":29,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.3778363370334372,-0.7314265,0.483205965717323],"direction":[0.7877619511607603,0,-0.6159797953694522]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":17,"joint":"hinge","name":"wheel","parts":[{"id":30,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[0.3778363370334372,-0.7314265,0.483205965717323],"direction":[0.7877619511607603,0,-0.6159797953694522]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":10,"parent":18,"joint":"hinge","name":"wheel","parts":[{"id":25,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.34037500044103797,-0.7314721903000174,0.5069054484051658],"direction":[0.8297053052480169,0.0007440671274425703,0.5582011759280028]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":18,"joint":"hinge","name":"wheel","parts":[{"id":26,"name":"wheel","children":[]}],"jointData":{"axis":{"origin":[-0.34037500044103797,-0.7314721903000174,0.5069054484051658],"direction":[0.8297053052480169,0.0007440671274425703,0.5582011759280028]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":12,"parent":13,"joint":"slider","name":"chair_back","parts":[{"id":58,"name":"back_support","children":[]},{"id":60,"name":"back_connector","children":[]},{"id":62,"name":"back_soft_surface","children":[]},{"id":55,"name":"armrest_hard_surface","children":[]},{"id":56,"name":"arm_vertical_bar","children":[]},{"id":57,"name":"arm_horizontal_bar","children":[]},{"id":52,"name":"armrest_hard_surface","children":[]},{"id":53,"name":"arm_vertical_bar","children":[]},{"id":54,"name":"arm_horizontal_bar","children":[]},{"id":50,"name":"seat_soft_surface","children":[]},{"id":51,"name":"seat_support","children":[]},{"id":47,"name":"central_support","children":[]},{"id":45,"name":"mounting_plate","children":[]},{"id":63,"name":"mounting_plate","children":[]}],"jointData":{"axis":{"origin":[0.0049770000000000005,0,0.056823],"direction":[0,1,0]},"limit":{"a":0,"b":-0.06800000000000006,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":13,"parent":-1,"joint":"free","name":"central_support","parts":[{"id":46,"name":"central_support","children":[]},{"id":48,"name":"central_support","children":[]},{"id":10,"name":"leg","children":[]},{"id":11,"name":"leg","children":[]},{"id":12,"name":"leg","children":[]},{"id":13,"name":"leg","children":[]},{"id":14,"name":"leg","children":[]}],"jointData":{}},{"id":14,"parent":13,"joint":"hinge","name":"caster_yoke","parts":[{"id":39,"name":"caster_yoke","children":[]},{"id":40,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.5592185515219829,0,-0.10459136444123754],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":15,"parent":13,"joint":"hinge","name":"caster_yoke","parts":[{"id":35,"name":"caster_yoke","children":[]},{"id":36,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.01654577457789901,0,-0.5293442426175963],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":16,"parent":13,"joint":"hinge","name":"caster_yoke","parts":[{"id":31,"name":"caster_yoke","children":[]},{"id":32,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.5551610385271041,0,-0.14448102517566552],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":17,"parent":13,"joint":"hinge","name":"caster_yoke","parts":[{"id":27,"name":"caster_yoke","children":[]},{"id":28,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[0.3657513070226622,0,0.5181592288031465],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":18,"parent":13,"joint":"hinge","name":"caster_yoke","parts":[{"id":23,"name":"caster_yoke","children":[]},{"id":24,"name":"caster_stem","children":[]}],"jointData":{"axis":{"origin":[-0.32297750112800366,0,0.5428120340871153],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
diff --git a/PartNetMobility/Chair/40168/parts_render/0.png b/PartNetMobility/Chair/40168/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..0adb0ff7411b4f6e00c893f29c92d74a4b095a2c
--- /dev/null
+++ b/PartNetMobility/Chair/40168/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cadb4651a57d34898f13b0cf51a685c9b6edcbed94a0590d43484ab2e9b4ac9b
+size 48075
diff --git a/PartNetMobility/Chair/40168/parts_render/0.txt b/PartNetMobility/Chair/40168/parts_render/0.txt
new file mode 100644
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\ No newline at end of file
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\ No newline at end of file