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index 0000000000000000000000000000000000000000..ff3f08f9bdd0b26114af3211339af594614bb10c
--- /dev/null
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diff --git a/PartNetMobility/Cart/101178/textured_objs/original_76.obj b/PartNetMobility/Cart/101178/textured_objs/original_76.obj
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index 0000000000000000000000000000000000000000..d562aba6bca4af4f6cb68729de9db9347de09add
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--- /dev/null
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diff --git a/PartNetMobility/Cart/101178/textured_objs/original_77.obj b/PartNetMobility/Cart/101178/textured_objs/original_77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44b0033a3128a391a81bd6093cba8b0e747032a4
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diff --git a/PartNetMobility/Cart/101178/textured_objs/original_78.mtl b/PartNetMobility/Cart/101178/textured_objs/original_78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_78.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/PartNetMobility/Cart/101178/textured_objs/original_78.obj b/PartNetMobility/Cart/101178/textured_objs/original_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c739078ebbf2e6b72cb19ce879bbb457e558b701
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_78.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 78
+mtllib original_78.mtl
+o mesh35/mesh35-geometry#mesh35-geometry
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diff --git a/PartNetMobility/Cart/101178/textured_objs/original_8.mtl b/PartNetMobility/Cart/101178/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_8.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101178/textured_objs/original_8.obj b/PartNetMobility/Cart/101178/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b544ffc03f4e4d8889d4de0488447f7fc5f1ef9
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_8.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 8
+mtllib original_8.mtl
+o Component_3_3/Component_3/mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/PartNetMobility/Cart/101178/textured_objs/original_9.mtl b/PartNetMobility/Cart/101178/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eccca7edf3c449f55310e62896c9f962c44447d4
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_9.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8666666666666667 0.8666666666666667 0.7686274509803922 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/101178/textured_objs/original_9.obj b/PartNetMobility/Cart/101178/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b25f57225ff3ca885eee54d33d507a92ec10903
--- /dev/null
+++ b/PartNetMobility/Cart/101178/textured_objs/original_9.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 9
+mtllib original_9.mtl
+o Component_2_5/Component_2/mesh1/mesh1-geometry#mesh1-geometry
+v -0.082557 -0.010788 -0.33155
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diff --git a/PartNetMobility/Cart/101182/bounding_box.json b/PartNetMobility/Cart/101182/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac8aa91ff57ea850c200ccfcc65338e078dc993
--- /dev/null
+++ b/PartNetMobility/Cart/101182/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.404181, -0.422157, -0.920393], "max": [0.371389, 0.320621, 0.617594]}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101182/images/texture_0.jpg b/PartNetMobility/Cart/101182/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1a8e633c18df0b7ff70d3ac7ecf46b6944f03384
--- /dev/null
+++ b/PartNetMobility/Cart/101182/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172ef612abe5c96b979e8b1fc45a29c4f2ae5d91aa093b37559deec49762651d
+size 1063
diff --git a/PartNetMobility/Cart/101182/images/texture_1.jpg b/PartNetMobility/Cart/101182/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99efc5883221732f79dd9eb7b34add924e140494
--- /dev/null
+++ b/PartNetMobility/Cart/101182/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b8bdc65a2b4b6cd9e60d44cec8d17574123da0b86f971cee32d6b8ced31692
+size 8062
diff --git a/PartNetMobility/Cart/101182/meta.json b/PartNetMobility/Cart/101182/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ba0b8ef579af1188d035da69519ffde2e2d40d
--- /dev/null
+++ b/PartNetMobility/Cart/101182/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "e9753ab8eb658ca3e66bd3b4a45b6e54", "version": "1", "anno_id": "1182", "time_in_sec": "7"}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101182/mobility.urdf b/PartNetMobility/Cart/101182/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1222d004931bd8fd56d79d474712157c53beb979
--- /dev/null
+++ b/PartNetMobility/Cart/101182/mobility.urdf
@@ -0,0 +1,103 @@
+<?xml version="1.0" ?>
+<robot name="partnet_e9753ab8eb658ca3e66bd3b4a45b6e54">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel_1">
+			<origin xyz="0.0029598438267276874 0.2280222736415833 -0.38895946180846636"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0029598438267276874 0.2280222736415833 -0.38895946180846636"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.0029598438267276874 -0.2280222736415833 0.38895946180846636"/>
+		<axis xyz="-0.9999710467920331 -2.485845383732132e-07 -0.007609571445484575"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/101182/mobility_v2.json b/PartNetMobility/Cart/101182/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c784cc35ea28847a0575e828a3fa499850ac407
--- /dev/null
+++ b/PartNetMobility/Cart/101182/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.0029598438267276874, -0.2280222736415833, 0.38895946180846636], "direction": [-0.9999710467920331, -2.485845383732132e-07, -0.007609571445484575]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101182/result.json b/PartNetMobility/Cart/101182/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..709d402ca98b3b4a596075eb22057696b28f4aac
--- /dev/null
+++ b/PartNetMobility/Cart/101182/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-2", "original-8", "original-9", "original-5", "original-6", "original-1"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101182/result_original.json b/PartNetMobility/Cart/101182/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ef59aefccf2eae7e772e498ea0b972683621d1
--- /dev/null
+++ b/PartNetMobility/Cart/101182/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-3"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101182/semantics.txt b/PartNetMobility/Cart/101182/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c80b9b97f82255beaa6e9debe0ddf1553f76af
--- /dev/null
+++ b/PartNetMobility/Cart/101182/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge wheel
+link_1 free cart_body
diff --git a/PartNetMobility/Cart/101182/textured_objs/original_1.mtl b/PartNetMobility/Cart/101182/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59f89191de2be37612d1edc3c18d93e155070b25
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.26666666666666666 0.26666666666666666 0.26666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/101182/textured_objs/original_1.obj b/PartNetMobility/Cart/101182/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ae099e987e39370e66200ff9c631e9c6a40fdad
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_1.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 1
+mtllib original_1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v -0.145592 -0.262004 0.604221
+v -0.145396 -0.304402 0.578467
+v -0.145504 -0.258438 0.592730
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_2.mtl b/PartNetMobility/Cart/101182/textured_objs/original_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e85ffb79432d21dbb239ded557a85fea34e7747a
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9098039215686274 0.32941176470588235 0.3215686274509804 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/101182/textured_objs/original_2.obj b/PartNetMobility/Cart/101182/textured_objs/original_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c493d829829e43e1c2e4f36aee08fb3aad1070c0
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_2.obj
@@ -0,0 +1,287 @@
+# SSTK version 0.8.0
+# 2
+mtllib original_2.mtl
+o Group2/mesh3/mesh3-geometry#mesh3-geometry
+v 0.286886 -0.099952 0.085287
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new file mode 100644
index 0000000000000000000000000000000000000000..5eacf62f549202bd249a085b4f6caa43b624f304
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_3.mtl
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_3.obj b/PartNetMobility/Cart/101182/textured_objs/original_3.obj
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index 0000000000000000000000000000000000000000..46cf54924f693b9d966a2b7df378cff8da525a23
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_5.mtl b/PartNetMobility/Cart/101182/textured_objs/original_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6f0162ecde3998aa07c21d679869b975ff3dc49
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_5.mtl
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_5.obj b/PartNetMobility/Cart/101182/textured_objs/original_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3df0126ceb5ba7d48a12872e085a86d3b32bc20d
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_5.obj
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_6.mtl b/PartNetMobility/Cart/101182/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59f89191de2be37612d1edc3c18d93e155070b25
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_6.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_6.obj b/PartNetMobility/Cart/101182/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91419b309ce284c924c8609773e816c22d630052
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_8.mtl b/PartNetMobility/Cart/101182/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59f89191de2be37612d1edc3c18d93e155070b25
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_8.mtl
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_8.obj b/PartNetMobility/Cart/101182/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e75af878b8867c0db9e9f13b54ed10d508ae1ca2
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_8.obj
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_9.mtl b/PartNetMobility/Cart/101182/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6f0162ecde3998aa07c21d679869b975ff3dc49
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_9.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+map_Kd ../images/texture_1.jpg
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diff --git a/PartNetMobility/Cart/101182/textured_objs/original_9.obj b/PartNetMobility/Cart/101182/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f70af5b9f972b3c8777f1dc8fb032e1919f91fa0
--- /dev/null
+++ b/PartNetMobility/Cart/101182/textured_objs/original_9.obj
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+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_52.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_65.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_45.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_63.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_48.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_56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.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_70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_74.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_73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.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_81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_78.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_82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/101183/mobility_v2.json b/PartNetMobility/Cart/101183/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b6d7a97379a535d36175dcc0962b212686094f4
--- /dev/null
+++ b/PartNetMobility/Cart/101183/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.10594616747874273, 0.0521708325212573], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.10594616747874272, 0.0521708325212573], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101183/result.json b/PartNetMobility/Cart/101183/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f7e6697a85d71ac1cbdddc56a65d2b690112bc
--- /dev/null
+++ b/PartNetMobility/Cart/101183/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-7", "original-1", "original-4", "original-2"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-5", "original-9", "original-8", "original-10"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-29", "original-21", "original-30", "original-64", "original-43", "original-71", "original-52", "original-26", "original-65", "original-33", "original-45", "original-35", "original-49", "original-61", "original-39", "original-77", "original-54", "original-63", "original-27", "original-51", "original-55", "original-6", "original-31", "original-48", "original-15", "original-56", "original-76", "original-72", "original-62", "original-75", "original-23", "original-66", "original-67", "original-69", "original-68", "original-34", "original-18", "original-70", "original-74", "original-17", "original-73", "original-42", "original-79", "original-24", "original-20", "original-32", "original-81", "original-78", "original-14", "original-82", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101183/result_original.json b/PartNetMobility/Cart/101183/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..146426491df112fb4cebbd90a079c668ea5db380
--- /dev/null
+++ b/PartNetMobility/Cart/101183/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-7", "original-1", "original-4", "original-2"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-5", "original-9", "original-8", "original-10"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101183/semantics.txt b/PartNetMobility/Cart/101183/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7ebac928fed30be8d2902924baacb738349ff94
--- /dev/null
+++ b/PartNetMobility/Cart/101183/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 free cart_body
diff --git a/PartNetMobility/Cart/101183/textured_objs/original_1.mtl b/PartNetMobility/Cart/101183/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_1.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/Cart/101183/textured_objs/original_1.obj b/PartNetMobility/Cart/101183/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..025a51fecbdefda66d19abbe34d01ccdf52bf0ff
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_1.obj
@@ -0,0 +1,62 @@
+# SSTK version 0.8.0
+# 1
+mtllib original_1.mtl
+o Component_3_1/Component_3/mesh1/mesh1-geometry#mesh1-geometry
+v -0.357598 -0.055314 -0.09107
+v -0.357598 0.010743 0.203442
+v -0.357598 -0.010088 -0.094466
+v -0.357598 -0.034482 0.206839
+v -0.344559 0.010743 0.203442
+v -0.344559 -0.055314 -0.09107
+v -0.344559 -0.010088 -0.094466
+v -0.344559 -0.034482 0.206839
+vt 0.086931 0.01344
+vt 0.967006 0.283678
+vt 0.076782 0.198456
+vt 0.977156 0.098662
+vt 0 1.234612
+vt 0.038966 0.012906
+vt 0.038966 1.234612
+vt 0.038966 0.184496
+vt 0 -0.001041
+vt 0.038966 -0.001041
+vt 0 0.013861
+vt -0.038966 1.235567
+vt -0.038966 0.013861
+vt -0.038966 -0.007329
+vt 0 0.178208
+vt -0.038966 0.178208
+vt 0 0.012906
+vt 0 0.184496
+vt 0 1.235567
+vt 0 -0.007329
+vn -1.0 0.0 0.0
+vn 0.0 0.9975640829813741 -0.06975600580258405
+vn 0.0 -0.07488899074428321 -0.9971918767545705
+vn 0.0 -0.9975640829813741 0.06975600580258405
+vn 0.0 0.07488998513568768 0.9971918020753964
+vn 1.0 0.0 0.0
+vn 0.0 0.07488899074428321 0.9971918767545705
+vn 0.0 -0.07488998513568768 -0.9971918020753964
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+f 5/5/2 3/6/2 2/7/2
+f 3/8/3 6/9/3 1/10/3
+f 6/11/4 4/12/4 1/13/4
+f 4/14/5 5/15/5 2/16/5
+f 3/6/2 5/5/2 7/17/2
+f 6/9/3 3/8/3 7/18/3
+f 4/12/4 6/11/4 8/19/4
+f 5/15/5 4/14/5 8/20/5
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 2//4 3//4 5//4
+f 1//7 6//7 3//7
+f 1//2 4//2 6//2
+f 2//8 5//8 4//8
+f 7//4 5//4 3//4
+f 7//7 3//7 6//7
+f 8//2 6//2 4//2
+f 8//8 4//8 5//8
diff --git a/PartNetMobility/Cart/101183/textured_objs/original_10.mtl b/PartNetMobility/Cart/101183/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/Cart/101183/textured_objs/original_10.obj b/PartNetMobility/Cart/101183/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846f7e0fc18eb1620ef0418d7285030d0c5e99e3
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_10.obj
@@ -0,0 +1,62 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
+o Component_3_4/Component_3_1_2/mesh6/mesh6-geometry#mesh6-geometry
+v 0.353928 -0.180757 -0.09112
+v 0.353928 -0.159925 0.206789
+v 0.353928 -0.225982 -0.087723
+v 0.340888 -0.159925 0.206789
+v 0.353928 -0.20515 0.210185
+v 0.340888 -0.225982 -0.087723
+v 0.340888 -0.180757 -0.09112
+v 0.340888 -0.20515 0.210185
+vt 0.076782 0.198456
+vt 0.967006 0.283678
+vt 0.086931 0.01344
+vt 0.038966 1.234612
+vt 0.038966 0.012906
+vt 0 1.234612
+vt 0.977156 0.098662
+vt 0.038966 -0.001041
+vt 0 -0.001041
+vt 0.038966 0.184496
+vt 0 0.012906
+vt -0.038966 0.178208
+vt 0 0.178208
+vt -0.038966 -0.007329
+vt -0.038966 0.013861
+vt -0.038966 1.235567
+vt 0 0.013861
+vt 0 0.184496
+vt 0 -0.007329
+vt 0 1.235567
+vn 1.0 0.0 0.0
+vn 0.0 0.9975640829813741 -0.06975600580258405
+vn 0.0 -0.07488899074428321 -0.9971918767545705
+vn 0.0 0.07488998513568768 0.9971918020753964
+vn 0.0 -0.9975640829813741 0.06975600580258405
+vn -1.0 0.0 0.0
+vn 0.0 0.07488899074428321 0.9971918767545705
+vn 0.0 -0.07488998513568768 -0.9971918020753964
+usemtl material_0_0
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_17.obj b/PartNetMobility/Cart/101183/textured_objs/original_17.obj
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index 0000000000000000000000000000000000000000..857a8065689254f136f7480090c1a9e6cdc01b28
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index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_24.obj b/PartNetMobility/Cart/101183/textured_objs/original_24.obj
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index 0000000000000000000000000000000000000000..d2b5663a18a740e95b2ccfe59a234aaa95f6d489
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_27.obj b/PartNetMobility/Cart/101183/textured_objs/original_27.obj
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index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_33.obj b/PartNetMobility/Cart/101183/textured_objs/original_33.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_34.mtl b/PartNetMobility/Cart/101183/textured_objs/original_34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_34.obj b/PartNetMobility/Cart/101183/textured_objs/original_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d03a9edfa91be37a8a02499962496e586b8adff0
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_34.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_4.mtl b/PartNetMobility/Cart/101183/textured_objs/original_4.mtl
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index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_4.obj b/PartNetMobility/Cart/101183/textured_objs/original_4.obj
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index 0000000000000000000000000000000000000000..d31ed78744541308bb771bae2b7ba2e6eaab4bfb
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_40.obj b/PartNetMobility/Cart/101183/textured_objs/original_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..442bb4e21a772e04410033b7df5d938576d5900e
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_40.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_43.obj b/PartNetMobility/Cart/101183/textured_objs/original_43.obj
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index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_48.obj b/PartNetMobility/Cart/101183/textured_objs/original_48.obj
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index 0000000000000000000000000000000000000000..ca06490016b0de5875566c11c105ab973a1bd561
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_51.obj b/PartNetMobility/Cart/101183/textured_objs/original_51.obj
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index 0000000000000000000000000000000000000000..c9ac41381d6c5725c1b463a7e38ec6f3a4697ae6
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_57.mtl b/PartNetMobility/Cart/101183/textured_objs/original_57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8cda9ff1783aeff9434ca9c194ef2779bb2e734d
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_57.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_57.obj b/PartNetMobility/Cart/101183/textured_objs/original_57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36395c336ed08cfa486ada31c28b2d85fda26b19
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..e8ab4d12de7795311a8092070d3a42ca687cad47
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+++ b/PartNetMobility/Cart/101183/textured_objs/original_6.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..fd663ccc6d73b1b3211ebaea1f43396aa4de1064
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_61.mtl b/PartNetMobility/Cart/101183/textured_objs/original_61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_61.obj b/PartNetMobility/Cart/101183/textured_objs/original_61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ab9b10d5ac3d8484e36d4878539001307c42ac
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_61.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_62.mtl b/PartNetMobility/Cart/101183/textured_objs/original_62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_62.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_62.obj b/PartNetMobility/Cart/101183/textured_objs/original_62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c7fd7559e7b5a6c5455b7a7a2610e9c77950c
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_62.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_63.mtl b/PartNetMobility/Cart/101183/textured_objs/original_63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_63.obj b/PartNetMobility/Cart/101183/textured_objs/original_63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4efc2de1639d53fc11304c37c30541c016786cda
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_63.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_64.mtl b/PartNetMobility/Cart/101183/textured_objs/original_64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_64.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_64.obj b/PartNetMobility/Cart/101183/textured_objs/original_64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a299cae33f3c6d22e4c052ed42be100bc0081e64
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_64.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_65.mtl b/PartNetMobility/Cart/101183/textured_objs/original_65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_65.obj b/PartNetMobility/Cart/101183/textured_objs/original_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bff7c761c4b3b554367fc0d9ff4a3aa76949990
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_65.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_66.mtl b/PartNetMobility/Cart/101183/textured_objs/original_66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_66.obj b/PartNetMobility/Cart/101183/textured_objs/original_66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f17e8657c31c0aec9fc75fbf83e8e5d612b2ff1
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_66.obj
@@ -0,0 +1,91 @@
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_67.mtl b/PartNetMobility/Cart/101183/textured_objs/original_67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_67.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_67.obj b/PartNetMobility/Cart/101183/textured_objs/original_67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d7ac27619a99b7617a6d5fedd12ba27a822aba1
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_67.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_68.mtl b/PartNetMobility/Cart/101183/textured_objs/original_68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_68.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/Cart/101183/textured_objs/original_68.obj b/PartNetMobility/Cart/101183/textured_objs/original_68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c890f9e470d6998ad7deb8aaec973e86c9663bfa
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_68.obj
@@ -0,0 +1,107 @@
+# SSTK version 0.8.0
+# 68
+mtllib original_68.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_69.mtl b/PartNetMobility/Cart/101183/textured_objs/original_69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_69.obj b/PartNetMobility/Cart/101183/textured_objs/original_69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..185e334de3913df400e9942617aef8838b41b633
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_69.obj
@@ -0,0 +1,775 @@
+# SSTK version 0.8.0
+# 69
+mtllib original_69.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_70.mtl b/PartNetMobility/Cart/101183/textured_objs/original_70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_70.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/Cart/101183/textured_objs/original_70.obj b/PartNetMobility/Cart/101183/textured_objs/original_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bbd90bb38aa3364616ee3e3ff3c8607f9362504
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_70.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 70
+mtllib original_70.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_71.mtl b/PartNetMobility/Cart/101183/textured_objs/original_71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_71.obj b/PartNetMobility/Cart/101183/textured_objs/original_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca75900d92a572bb9d1bf9153288703746ecfc34
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_71.obj
@@ -0,0 +1,353 @@
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_72.mtl b/PartNetMobility/Cart/101183/textured_objs/original_72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_72.mtl
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_72.obj b/PartNetMobility/Cart/101183/textured_objs/original_72.obj
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index 0000000000000000000000000000000000000000..87980260e2a9a15d3b143a58a700827c89332392
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_72.obj
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_73.mtl b/PartNetMobility/Cart/101183/textured_objs/original_73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_73.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/101183/textured_objs/original_73.obj b/PartNetMobility/Cart/101183/textured_objs/original_73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92bed935c34d800da8ed0f9bcff55ca0731e380e
--- /dev/null
+++ b/PartNetMobility/Cart/101183/textured_objs/original_73.obj
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new file mode 100644
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+++ b/PartNetMobility/Cart/101183/textured_objs/original_9.obj
@@ -0,0 +1,62 @@
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/meta.json
@@ -0,0 +1 @@
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diff --git a/PartNetMobility/Cart/101892/mobility.urdf b/PartNetMobility/Cart/101892/mobility.urdf
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/mobility.urdf
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+<?xml version="1.0" ?>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+			</geometry>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_194.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_176.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/101892/mobility_v2.json b/PartNetMobility/Cart/101892/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..797229571030e4d722c7e53bb3fdd4580d0586ee
--- /dev/null
+++ b/PartNetMobility/Cart/101892/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.124305, 0.038873000000000005], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.124305, 0.038873000000000005], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101892/result.json b/PartNetMobility/Cart/101892/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3166d09189362206214001bb030fd042b60a486f
--- /dev/null
+++ b/PartNetMobility/Cart/101892/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-73", "original-74", "original-55", "original-70", "original-71", "original-72", "original-8", "original-9", "original-6", "original-7", "original-53", "original-52", "original-51", "original-50", "original-49", "original-48", "original-47", "original-46", "original-45", "original-44", "original-42", "original-43", "original-40", "original-41", "original-39", "original-38", "original-54", "original-59", "original-11", "original-10", "original-13", "original-12", "original-14", "original-15", "original-17", "original-16", "original-18", "original-19", "original-20", "original-21", "original-22", "original-23", "original-24", "original-25", "original-27", "original-29", "original-33", "original-34", "original-37", "original-68", "original-69", "original-57", "original-67", "original-66", "original-65", "original-64", "original-61", "original-60", "original-62", "original-58", "original-63", "original-36", "original-35", "original-30", "original-32", "original-31", "original-5", "original-28", "original-26"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-146", "original-127", "original-112", "original-115", "original-114", "original-113", "original-110", "original-111", "original-109", "original-108", "original-107", "original-106", "original-105", "original-104", "original-102", "original-103", "original-101", "original-145", "original-144", "original-143", "original-142", "original-118", "original-117", "original-116", "original-119", "original-121", "original-120", "original-123", "original-122", "original-124", "original-125", "original-78", "original-79", "original-80", "original-81", "original-140", "original-139", "original-138", "original-137", "original-136", "original-135", "original-134", "original-133", "original-130", "original-141", "original-129", "original-131", "original-132", "original-126", "original-100", "original-99", "original-98", "original-96", "original-97", "original-95", "original-94", "original-92", "original-93", "original-90", "original-87", "original-82", "original-83", "original-84", "original-85", "original-86", "original-89", "original-77", "original-91", "original-88"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-208", "original-236", "original-154", "original-169", "original-198", "original-188", "original-230", "original-166", "original-224", "original-195", "original-192", "original-167", "original-193", "original-196", "original-199", "original-153", "original-160", "original-222", "original-2", "original-162", "original-173", "original-147", "original-210", "original-148", "original-172", "original-201", "original-184", "original-223", "original-150", "original-239", "original-221", "original-168", "original-214", "original-240", "original-185", "original-217", "original-159", "original-170", "original-216", "original-212", "original-163", "original-237", "original-213", "original-187", "original-218", "original-178", "original-219", "original-175", "original-186", "original-207", "original-174", "original-205", "original-227", "original-209", "original-158", "original-182", "original-226", "original-211", "original-235", "original-190", "original-161", "original-189", "original-225", "original-203", "original-202", "original-183", "original-228", "original-171", "original-165", "original-191", "original-206", "original-197", "original-200", "original-180", "original-1", "original-233", "original-234", "original-220", "original-157", "original-179", "original-231", "original-232", "original-215", "original-204", "original-229", "original-238", "original-155", "original-194", "original-176", "original-164"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101892/result_original.json b/PartNetMobility/Cart/101892/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..242f6b335e4c7d5ca705bd60d23cc39aef918dad
--- /dev/null
+++ b/PartNetMobility/Cart/101892/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-73", "original-74", "original-55", "original-70", "original-71", "original-72", "original-8", "original-9", "original-6", "original-7", "original-53", "original-52", "original-51", "original-50", "original-49", "original-48", "original-47", "original-46", "original-45", "original-44", "original-42", "original-43", "original-40", "original-41", "original-39", "original-38", "original-54", "original-59", "original-11", "original-10", "original-13", "original-12", "original-14", "original-15", "original-17", "original-16", "original-18", "original-19", "original-20", "original-21", "original-22", "original-23", "original-24", "original-25", "original-27", "original-29", "original-33", "original-34", "original-37", "original-68", "original-69", "original-57", "original-67", "original-66", "original-65", "original-64", "original-61", "original-60", "original-62", "original-58", "original-63", "original-36", "original-35", "original-30", "original-32", "original-31", "original-5", "original-28", "original-26"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-146", "original-127", "original-112", "original-115", "original-114", "original-113", "original-110", "original-111", "original-109", "original-108", "original-107", "original-106", "original-105", "original-104", "original-102", "original-103", "original-101", "original-145", "original-144", "original-143", "original-142", "original-118", "original-117", "original-116", "original-119", "original-121", "original-120", "original-123", "original-122", "original-124", "original-125", "original-78", "original-79", "original-80", "original-81", "original-140", "original-139", "original-138", "original-137", "original-136", "original-135", "original-134", "original-133", "original-130", "original-141", "original-129", "original-131", "original-132", "original-126", "original-100", "original-99", "original-98", "original-96", "original-97", "original-95", "original-94", "original-92", "original-93", "original-90", "original-87", "original-82", "original-83", "original-84", "original-85", "original-86", "original-89", "original-77", "original-91", "original-88"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/101892/semantics.txt b/PartNetMobility/Cart/101892/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7ebac928fed30be8d2902924baacb738349ff94
--- /dev/null
+++ b/PartNetMobility/Cart/101892/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 free cart_body
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_1.mtl b/PartNetMobility/Cart/101892/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_1.obj b/PartNetMobility/Cart/101892/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebb81b460bb17cdaaa93db6d6ac00f1c5dab67b
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_1.obj
@@ -0,0 +1,476 @@
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+# 1
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_101.mtl b/PartNetMobility/Cart/101892/textured_objs/original_101.mtl
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--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_101.obj b/PartNetMobility/Cart/101892/textured_objs/original_101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..319a90875fa0c7bc9cdaeba6711b6ea30ed3ff1c
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_104.obj b/PartNetMobility/Cart/101892/textured_objs/original_104.obj
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index 0000000000000000000000000000000000000000..d1ac937dceb3497ff5226abe9549519f817d0c44
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_106.mtl b/PartNetMobility/Cart/101892/textured_objs/original_106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_106.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_106.obj b/PartNetMobility/Cart/101892/textured_objs/original_106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..855f400abf00bdf32419bdce0ddfd3ff18fa75a7
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_106.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_107.obj b/PartNetMobility/Cart/101892/textured_objs/original_107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b75d8ad0e6374e06afe4da944de9e00c3d8f4c85
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_109.mtl b/PartNetMobility/Cart/101892/textured_objs/original_109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_109.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_109.obj b/PartNetMobility/Cart/101892/textured_objs/original_109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..853b582a7c09378a81fe27e29856f249f3fe380a
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_109.obj
@@ -0,0 +1,1104 @@
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_11.obj b/PartNetMobility/Cart/101892/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d47985a7518b355304e42b48d0de91dd136250f9
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_111.mtl b/PartNetMobility/Cart/101892/textured_objs/original_111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_111.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_111.obj b/PartNetMobility/Cart/101892/textured_objs/original_111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad33b374777154fb50b7f6dca61517332b04a3fb
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_111.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_112.obj b/PartNetMobility/Cart/101892/textured_objs/original_112.obj
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index 0000000000000000000000000000000000000000..324029ebc4105e685dac8679c1be999f850e533f
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_114.mtl b/PartNetMobility/Cart/101892/textured_objs/original_114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_114.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_114.obj b/PartNetMobility/Cart/101892/textured_objs/original_114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94f911771d0e089795745809a2b3625feed6688e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_114.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_117.mtl b/PartNetMobility/Cart/101892/textured_objs/original_117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_117.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_117.obj b/PartNetMobility/Cart/101892/textured_objs/original_117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfab75f20f8bc254f68c6a7cb72ec460dd24dc67
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_117.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_119.mtl b/PartNetMobility/Cart/101892/textured_objs/original_119.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_12.mtl b/PartNetMobility/Cart/101892/textured_objs/original_12.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_12.obj b/PartNetMobility/Cart/101892/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14575170040b02c9f418d199c56bed4b06aae843
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_121.mtl b/PartNetMobility/Cart/101892/textured_objs/original_121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_121.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_122.mtl b/PartNetMobility/Cart/101892/textured_objs/original_122.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_122.obj b/PartNetMobility/Cart/101892/textured_objs/original_122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..052347cc45800d7c7c94e2d993413690d566e1e6
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_124.mtl b/PartNetMobility/Cart/101892/textured_objs/original_124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_124.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_124.obj b/PartNetMobility/Cart/101892/textured_objs/original_124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b1960ef5485a6ef473aaa5120d551cb03e1d489
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_124.obj
@@ -0,0 +1,1104 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_125.mtl b/PartNetMobility/Cart/101892/textured_objs/original_125.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_125.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_125.obj b/PartNetMobility/Cart/101892/textured_objs/original_125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0bf34a96e491d5f878292a1893a4b94e8804764
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_125.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_126.obj b/PartNetMobility/Cart/101892/textured_objs/original_126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77989ac241a3deabfe3dcd5449a29784238b2899
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_127.obj b/PartNetMobility/Cart/101892/textured_objs/original_127.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_13.obj b/PartNetMobility/Cart/101892/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde607ffaa46d7dcf7d440f86b9ac32ee2617792
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_13.obj
@@ -0,0 +1,1104 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_130.mtl b/PartNetMobility/Cart/101892/textured_objs/original_130.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_130.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_130.obj b/PartNetMobility/Cart/101892/textured_objs/original_130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9862f4219ccc388a9730d620c893cc6363891ba9
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_130.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_131.obj b/PartNetMobility/Cart/101892/textured_objs/original_131.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_134.mtl b/PartNetMobility/Cart/101892/textured_objs/original_134.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_134.obj b/PartNetMobility/Cart/101892/textured_objs/original_134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d4564ea9243a727e91cde902dce0f5bac8d932e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_134.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_135.mtl b/PartNetMobility/Cart/101892/textured_objs/original_135.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_135.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_135.obj b/PartNetMobility/Cart/101892/textured_objs/original_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9883fb6533148f2b3bedcfd958e4d309afd65289
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_135.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_136.mtl b/PartNetMobility/Cart/101892/textured_objs/original_136.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_136.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_136.obj b/PartNetMobility/Cart/101892/textured_objs/original_136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b6b95f26e3a92712960b0a3091d7720a40f249b
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_136.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_137.mtl b/PartNetMobility/Cart/101892/textured_objs/original_137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_137.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_137.obj b/PartNetMobility/Cart/101892/textured_objs/original_137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15485387339ce6a91e4cdc411e5fb60c60d1369f
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_137.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_138.obj b/PartNetMobility/Cart/101892/textured_objs/original_138.obj
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index 0000000000000000000000000000000000000000..1f4c19d98de0becdc1154cb677ee5490a4938f40
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_139.obj b/PartNetMobility/Cart/101892/textured_objs/original_139.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_140.obj b/PartNetMobility/Cart/101892/textured_objs/original_140.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_141.obj b/PartNetMobility/Cart/101892/textured_objs/original_141.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_15.obj b/PartNetMobility/Cart/101892/textured_objs/original_15.obj
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index 0000000000000000000000000000000000000000..388dc6d919ca57cf6c72ea3bf7d114ff3150ea4f
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_150.mtl b/PartNetMobility/Cart/101892/textured_objs/original_150.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_150.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_150.obj b/PartNetMobility/Cart/101892/textured_objs/original_150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d959c86b39624b16cf2f60569f5df5f81eae705f
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_150.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_153.mtl b/PartNetMobility/Cart/101892/textured_objs/original_153.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_153.obj b/PartNetMobility/Cart/101892/textured_objs/original_153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..610f9e865cde60cb72222959199a3ad9406ccf67
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_153.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_154.mtl b/PartNetMobility/Cart/101892/textured_objs/original_154.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_154.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_154.obj b/PartNetMobility/Cart/101892/textured_objs/original_154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc3d26fe8f89074ce14e7c5c34cea7ca4546819c
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_154.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_155.obj b/PartNetMobility/Cart/101892/textured_objs/original_155.obj
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index 0000000000000000000000000000000000000000..af86787cc53f4131aa545ad1180aa98b9f8bb633
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_157.obj b/PartNetMobility/Cart/101892/textured_objs/original_157.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_158.obj b/PartNetMobility/Cart/101892/textured_objs/original_158.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_159.mtl b/PartNetMobility/Cart/101892/textured_objs/original_159.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_159.obj b/PartNetMobility/Cart/101892/textured_objs/original_159.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_16.obj b/PartNetMobility/Cart/101892/textured_objs/original_16.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_16.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_160.mtl b/PartNetMobility/Cart/101892/textured_objs/original_160.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_160.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_160.obj b/PartNetMobility/Cart/101892/textured_objs/original_160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22573ef0efbd3ec75cb4b13af07ac66b92e8a90e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_160.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 160
+mtllib original_160.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_161.mtl b/PartNetMobility/Cart/101892/textured_objs/original_161.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_161.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_161.obj b/PartNetMobility/Cart/101892/textured_objs/original_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fd289a440020fac6124dc9b3ad5db877dbf9dcb
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_161.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 161
+mtllib original_161.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_162.mtl b/PartNetMobility/Cart/101892/textured_objs/original_162.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_162.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_162.obj b/PartNetMobility/Cart/101892/textured_objs/original_162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5eaaec10dacdeaee2c69e5aa74c93034c0f7d611
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_162.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 162
+mtllib original_162.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_163.mtl b/PartNetMobility/Cart/101892/textured_objs/original_163.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_163.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_163.obj b/PartNetMobility/Cart/101892/textured_objs/original_163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d88034dbb046b6b478345c52e26bf1018bdbe5
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_163.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 163
+mtllib original_163.mtl
+o mesh212/mesh212-geometry#mesh212-geometry
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_164.mtl b/PartNetMobility/Cart/101892/textured_objs/original_164.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_164.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_164.obj b/PartNetMobility/Cart/101892/textured_objs/original_164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0bf56fbefb5a4c3af27e47cc4404b6ee2192d4e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_164.obj
@@ -0,0 +1,279 @@
+# SSTK version 0.8.0
+# 164
+mtllib original_164.mtl
+o mesh213/mesh213-geometry#mesh213-geometry
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_166.obj b/PartNetMobility/Cart/101892/textured_objs/original_166.obj
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index 0000000000000000000000000000000000000000..84ec291b69f5f36fa0f2b50519ce46b1d31a1dca
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_170.obj b/PartNetMobility/Cart/101892/textured_objs/original_170.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_170.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_176.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_179.mtl b/PartNetMobility/Cart/101892/textured_objs/original_179.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_179.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_179.obj b/PartNetMobility/Cart/101892/textured_objs/original_179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e74189d613934e30e07a54160dd359393b68e64
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_179.obj
@@ -0,0 +1,15357 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_18.obj b/PartNetMobility/Cart/101892/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba892bf664f92c80423c6c1b46292646cf0ce31f
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_180.mtl b/PartNetMobility/Cart/101892/textured_objs/original_180.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_180.obj b/PartNetMobility/Cart/101892/textured_objs/original_180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1542dd0db41e88e08a032175a232e128bf07169
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_180.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_182.obj b/PartNetMobility/Cart/101892/textured_objs/original_182.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_182.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_183.mtl b/PartNetMobility/Cart/101892/textured_objs/original_183.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_183.obj b/PartNetMobility/Cart/101892/textured_objs/original_183.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_184.mtl b/PartNetMobility/Cart/101892/textured_objs/original_184.mtl
new file mode 100644
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_184.obj b/PartNetMobility/Cart/101892/textured_objs/original_184.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_184.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_190.mtl b/PartNetMobility/Cart/101892/textured_objs/original_190.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_190.obj b/PartNetMobility/Cart/101892/textured_objs/original_190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0445f392a9b2d5aab5e8815d54669139d9bb15b4
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_191.mtl b/PartNetMobility/Cart/101892/textured_objs/original_191.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_191.obj b/PartNetMobility/Cart/101892/textured_objs/original_191.obj
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index 0000000000000000000000000000000000000000..120d49ad5a0a2f27e683bbe534be10484b6c2b87
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_192.obj b/PartNetMobility/Cart/101892/textured_objs/original_192.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_192.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_193.obj b/PartNetMobility/Cart/101892/textured_objs/original_193.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_193.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_194.obj b/PartNetMobility/Cart/101892/textured_objs/original_194.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_194.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_195.obj b/PartNetMobility/Cart/101892/textured_objs/original_195.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_195.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_196.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_197.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_198.obj b/PartNetMobility/Cart/101892/textured_objs/original_198.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_198.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_199.obj b/PartNetMobility/Cart/101892/textured_objs/original_199.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_199.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_2.obj b/PartNetMobility/Cart/101892/textured_objs/original_2.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_2.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_20.obj b/PartNetMobility/Cart/101892/textured_objs/original_20.obj
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index 0000000000000000000000000000000000000000..79ac639e4bf9a562f30c3659594c32f048935e62
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new file mode 100644
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_200.obj b/PartNetMobility/Cart/101892/textured_objs/original_200.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_200.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_203.mtl b/PartNetMobility/Cart/101892/textured_objs/original_203.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_203.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_203.obj b/PartNetMobility/Cart/101892/textured_objs/original_203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf4a0f75b8ae0269301368d6f69b8cc8b4a6f22
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_203.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_210.mtl b/PartNetMobility/Cart/101892/textured_objs/original_210.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_210.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_210.obj b/PartNetMobility/Cart/101892/textured_objs/original_210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ebd6d2bc9db559db4bab208f451ef46728e4455
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_210.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_211.mtl b/PartNetMobility/Cart/101892/textured_objs/original_211.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_211.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_211.obj b/PartNetMobility/Cart/101892/textured_objs/original_211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..293b6c5e3f74727e3471c5c216a5ee0713be79b9
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_211.obj
@@ -0,0 +1,56 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_212.mtl b/PartNetMobility/Cart/101892/textured_objs/original_212.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_212.mtl
@@ -0,0 +1,8 @@
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+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_212.obj b/PartNetMobility/Cart/101892/textured_objs/original_212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c611a032655cf9f8f3c60858fd459c2869420a
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_212.obj
@@ -0,0 +1,56 @@
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_213.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_214.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_216.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_217.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_218.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_220.mtl b/PartNetMobility/Cart/101892/textured_objs/original_220.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_220.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_220.obj b/PartNetMobility/Cart/101892/textured_objs/original_220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2c5a21aee4d10a6472611fb04d5d52754f7f124
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_220.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 220
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_221.mtl b/PartNetMobility/Cart/101892/textured_objs/original_221.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_221.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_221.obj b/PartNetMobility/Cart/101892/textured_objs/original_221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b686b4ba307077fde1c5b591d64e38f9844737e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_221.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 221
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_222.mtl b/PartNetMobility/Cart/101892/textured_objs/original_222.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_222.obj b/PartNetMobility/Cart/101892/textured_objs/original_222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d847fe1d7d3279f5692e2fe1a9ddcf2bfd0019a3
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_222.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 222
+mtllib original_222.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_223.mtl b/PartNetMobility/Cart/101892/textured_objs/original_223.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_223.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_223.obj b/PartNetMobility/Cart/101892/textured_objs/original_223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..023e0b1cda94d25d63f792a926cbcf86f9756670
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_223.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 223
+mtllib original_223.mtl
+o adfasf20/adfasf/mesh356/mesh356-geometry#mesh356-geometry
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_224.mtl b/PartNetMobility/Cart/101892/textured_objs/original_224.mtl
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_224.mtl
@@ -0,0 +1,8 @@
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+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_224.obj b/PartNetMobility/Cart/101892/textured_objs/original_224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..618e276c29bb4c53b2e15082ff70bf80dba8329e
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_224.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 224
+mtllib original_224.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_225.mtl b/PartNetMobility/Cart/101892/textured_objs/original_225.mtl
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_225.mtl
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+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_225.obj b/PartNetMobility/Cart/101892/textured_objs/original_225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a73b504a9f82c19829b2a9b4edccc6092fcc1f6
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_225.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 225
+mtllib original_225.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_226.mtl b/PartNetMobility/Cart/101892/textured_objs/original_226.mtl
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_226.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_226.obj b/PartNetMobility/Cart/101892/textured_objs/original_226.obj
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_226.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 226
+mtllib original_226.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_227.mtl b/PartNetMobility/Cart/101892/textured_objs/original_227.mtl
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_227.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_227.obj b/PartNetMobility/Cart/101892/textured_objs/original_227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..269f68c9d3060da8dc6813f7f82f532fba077f77
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_227.obj
@@ -0,0 +1,56 @@
+# SSTK version 0.8.0
+# 227
+mtllib original_227.mtl
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_230.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_231.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_233.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_234.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_235.obj
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+++ b/PartNetMobility/Cart/101892/textured_objs/original_236.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_239.mtl b/PartNetMobility/Cart/101892/textured_objs/original_239.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_239.obj b/PartNetMobility/Cart/101892/textured_objs/original_239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6514dd59ce22cdbdf2b459cb3a93f4af36ac5ef
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_239.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_240.mtl b/PartNetMobility/Cart/101892/textured_objs/original_240.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_240.mtl
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_25.obj b/PartNetMobility/Cart/101892/textured_objs/original_25.obj
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index 0000000000000000000000000000000000000000..528b1e53cacf021a84af65f5b23752e9c1bf0ef0
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_28.mtl b/PartNetMobility/Cart/101892/textured_objs/original_28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_28.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_28.obj b/PartNetMobility/Cart/101892/textured_objs/original_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ff93c91c4af9ec8fc34bb98e72c5d905af3f993
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_28.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_31.mtl b/PartNetMobility/Cart/101892/textured_objs/original_31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_31.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_31.obj b/PartNetMobility/Cart/101892/textured_objs/original_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09603f6005311183e31f93ec181237847b27c12f
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_31.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_34.mtl b/PartNetMobility/Cart/101892/textured_objs/original_34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_34.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_34.obj b/PartNetMobility/Cart/101892/textured_objs/original_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44dc7a25686d58cbc7cc956462e2abd91c86641d
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_34.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_37.mtl b/PartNetMobility/Cart/101892/textured_objs/original_37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_37.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_37.obj b/PartNetMobility/Cart/101892/textured_objs/original_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258f70453bb80e484394c52e7aa15f04e169dcc3
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_37.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_40.mtl b/PartNetMobility/Cart/101892/textured_objs/original_40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_40.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_40.obj b/PartNetMobility/Cart/101892/textured_objs/original_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c0363ea3c1ee03dffa42cd3a990f3f696286c0d
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_40.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_43.mtl b/PartNetMobility/Cart/101892/textured_objs/original_43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_43.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_43.obj b/PartNetMobility/Cart/101892/textured_objs/original_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144e732d9dd825b65b4a3df14ec7d3baf9dae9e4
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_43.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_46.mtl b/PartNetMobility/Cart/101892/textured_objs/original_46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_46.obj b/PartNetMobility/Cart/101892/textured_objs/original_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9918438b08ded90e482727520bcba427be5cfafe
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_48.mtl b/PartNetMobility/Cart/101892/textured_objs/original_48.mtl
new file mode 100644
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_49.mtl b/PartNetMobility/Cart/101892/textured_objs/original_49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_49.mtl
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+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_49.obj b/PartNetMobility/Cart/101892/textured_objs/original_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7565a31ead40f2f763fef058674efc0fd3b89ba9
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_49.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_50.mtl b/PartNetMobility/Cart/101892/textured_objs/original_50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_50.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_50.obj b/PartNetMobility/Cart/101892/textured_objs/original_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cadc312fd599a507dddc60a52669b83134fd8d22
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_50.obj
@@ -0,0 +1,1104 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_51.obj b/PartNetMobility/Cart/101892/textured_objs/original_51.obj
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index 0000000000000000000000000000000000000000..1ec5f18440b7ecfdf63b82008d1c3c68de794f2b
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_53.mtl b/PartNetMobility/Cart/101892/textured_objs/original_53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_53.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_53.obj b/PartNetMobility/Cart/101892/textured_objs/original_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a2e255631197894ff8e536aa90996f37758a258
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_53.obj
@@ -0,0 +1,1104 @@
+# SSTK version 0.8.0
+# 53
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_54.mtl b/PartNetMobility/Cart/101892/textured_objs/original_54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_54.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_54.obj b/PartNetMobility/Cart/101892/textured_objs/original_54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83a85fa17a1335e8ee3859ba708152098a4692e2
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_54.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_59.mtl b/PartNetMobility/Cart/101892/textured_objs/original_59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_59.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_59.obj b/PartNetMobility/Cart/101892/textured_objs/original_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af0e60c78d00e7bde59007dc947e3d78469550a3
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_59.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_6.mtl b/PartNetMobility/Cart/101892/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_6.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_6.obj b/PartNetMobility/Cart/101892/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550a3aee89bbbe7846496a376b5837d9690bce16
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_60.mtl b/PartNetMobility/Cart/101892/textured_objs/original_60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_60.mtl
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+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_60.obj b/PartNetMobility/Cart/101892/textured_objs/original_60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe65397611857fcce957947748b6b70be3101bd
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_60.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_61.obj b/PartNetMobility/Cart/101892/textured_objs/original_61.obj
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index 0000000000000000000000000000000000000000..c0df2df03bf8c1e57456f5594607ecdcd14c129c
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_62.obj b/PartNetMobility/Cart/101892/textured_objs/original_62.obj
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index 0000000000000000000000000000000000000000..e373749504df49348f7d06eca9c54834a55e6333
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_63.obj b/PartNetMobility/Cart/101892/textured_objs/original_63.obj
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index 0000000000000000000000000000000000000000..fb8222aeec10895d31474d6359320cde6c0cc14b
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_65.obj b/PartNetMobility/Cart/101892/textured_objs/original_65.obj
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index 0000000000000000000000000000000000000000..c597a806fe565b6699098ad98651635989e2ef69
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_66.obj b/PartNetMobility/Cart/101892/textured_objs/original_66.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_67.obj b/PartNetMobility/Cart/101892/textured_objs/original_67.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_68.obj b/PartNetMobility/Cart/101892/textured_objs/original_68.obj
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index 0000000000000000000000000000000000000000..d47144c7b4daa8e1975e02c4f722b62f04dc8d68
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_69.obj b/PartNetMobility/Cart/101892/textured_objs/original_69.obj
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index 0000000000000000000000000000000000000000..e4af8fa8c9d2833212404d30099dc765307dd049
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_70.mtl b/PartNetMobility/Cart/101892/textured_objs/original_70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_70.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_70.obj b/PartNetMobility/Cart/101892/textured_objs/original_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28b3c7c51469fbaa81226807fc1d8ee6fb816064
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_70.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_71.mtl b/PartNetMobility/Cart/101892/textured_objs/original_71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_71.mtl
@@ -0,0 +1,8 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_71.obj b/PartNetMobility/Cart/101892/textured_objs/original_71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..911a8ef3269e848777bb4e97c223cbc60ec5e40b
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_71.obj
@@ -0,0 +1,79 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_79.mtl b/PartNetMobility/Cart/101892/textured_objs/original_79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_79.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_79.obj b/PartNetMobility/Cart/101892/textured_objs/original_79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e12567db019173db2413fa4f15167cec5a41fc42
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_79.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_8.obj b/PartNetMobility/Cart/101892/textured_objs/original_8.obj
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index 0000000000000000000000000000000000000000..55805c06f3a84e4fcb5e4466f50dd33f37017629
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_81.mtl b/PartNetMobility/Cart/101892/textured_objs/original_81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_81.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_81.obj b/PartNetMobility/Cart/101892/textured_objs/original_81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbaa1c30fe72f165f3bf3e5c75af6641952f6e9a
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_81.obj
@@ -0,0 +1,1104 @@
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_82.obj b/PartNetMobility/Cart/101892/textured_objs/original_82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1b2bcb15479be7a17b793c93ec15564b6694220
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_84.mtl b/PartNetMobility/Cart/101892/textured_objs/original_84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_84.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_84.obj b/PartNetMobility/Cart/101892/textured_objs/original_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb0d25e10eb2d0447a1729b7212db29356bc8629
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_84.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_85.obj b/PartNetMobility/Cart/101892/textured_objs/original_85.obj
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index 0000000000000000000000000000000000000000..50264cac88cbd2ae0c5bdc8708164b7ce124d980
--- /dev/null
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_87.mtl b/PartNetMobility/Cart/101892/textured_objs/original_87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_87.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_87.obj b/PartNetMobility/Cart/101892/textured_objs/original_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25f32cc957b20b53d3b41dd3c41bd60e44585dd
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_87.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_88.mtl b/PartNetMobility/Cart/101892/textured_objs/original_88.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_88.obj b/PartNetMobility/Cart/101892/textured_objs/original_88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8aec342a03fc68e172f47a3774d98679514475
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_88.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_9.mtl b/PartNetMobility/Cart/101892/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_9.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_9.obj b/PartNetMobility/Cart/101892/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f32b482849b905992028510f8df973b30b55d20
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_9.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_90.mtl b/PartNetMobility/Cart/101892/textured_objs/original_90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_90.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_90.obj b/PartNetMobility/Cart/101892/textured_objs/original_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..700f04cba966ef11f0cb4761b03f78f915717854
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_90.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_92.mtl b/PartNetMobility/Cart/101892/textured_objs/original_92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_92.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_92.obj b/PartNetMobility/Cart/101892/textured_objs/original_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ba8f1949ca026bd61ca872c594e28d1517be3d
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_92.obj
@@ -0,0 +1,1104 @@
+# SSTK version 0.8.0
+# 92
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_93.obj b/PartNetMobility/Cart/101892/textured_objs/original_93.obj
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index 0000000000000000000000000000000000000000..5fd67b23ac8b1fdea93908aa22619912f394e3d5
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_95.mtl b/PartNetMobility/Cart/101892/textured_objs/original_95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_95.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/101892/textured_objs/original_95.obj b/PartNetMobility/Cart/101892/textured_objs/original_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a90fb3f6c2ff02cd30f2c0d18d63bc95aca064b
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_95.obj
@@ -0,0 +1,1104 @@
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_96.obj b/PartNetMobility/Cart/101892/textured_objs/original_96.obj
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index 0000000000000000000000000000000000000000..6da558cee0c171b98d2d16cb33e039f548cbb47c
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_98.mtl b/PartNetMobility/Cart/101892/textured_objs/original_98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_98.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_98.obj b/PartNetMobility/Cart/101892/textured_objs/original_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0797fb5882a077c59becf8055377f5084c876e19
--- /dev/null
+++ b/PartNetMobility/Cart/101892/textured_objs/original_98.obj
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diff --git a/PartNetMobility/Cart/101892/textured_objs/original_99.obj b/PartNetMobility/Cart/101892/textured_objs/original_99.obj
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+		</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_54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+		<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_34.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_25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_47.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_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102347/mobility_v2.json b/PartNetMobility/Cart/102347/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ead015b91afdace287b38c28974288f2ba72e2
--- /dev/null
+++ b/PartNetMobility/Cart/102347/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.3993079078211702, 0.7536981377433614], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.0, -0.3993079105078663, 0.7544885], "direction": [-1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.005271616294173017, -0.26743758732660444, -0.570635900669345], "direction": [0.9999575171432671, -4.324182231565183e-05, -0.009217485493221454]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.005295801490685849, -0.26741983579878964, -0.5630767437830615], "direction": [-0.9999557816373345, 1.521001349319598e-06, 0.00940397616724241]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102347/result.json b/PartNetMobility/Cart/102347/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8acbd1ee2ce8228129c3f51041a005fe2623cfd8
--- /dev/null
+++ b/PartNetMobility/Cart/102347/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-46"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-53"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-11", "original-13", "original-2"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-6", "original-8", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-21", "original-30", "original-36", "original-28", "original-52", "original-22", "original-26", "original-33", "original-44", "original-16", "original-9", "original-45", "original-35", "original-39", "original-54", "original-27", "original-51", "original-31", "original-37", "original-38", "original-34", "original-18", "original-25", "original-24", "original-32", "original-47", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102347/result_original.json b/PartNetMobility/Cart/102347/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb013d6ea716eb1892beb1b74596148de37dc5da
--- /dev/null
+++ b/PartNetMobility/Cart/102347/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-46"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-53"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-11", "original-13", "original-2"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-6", "original-8", "original-3"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102347/semantics.txt b/PartNetMobility/Cart/102347/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732a22f9cebc01e3e6dc7ec7da1c9295fbe98615
--- /dev/null
+++ b/PartNetMobility/Cart/102347/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free cart_body
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_11.mtl b/PartNetMobility/Cart/102347/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102347/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/Cart/102347/textured_objs/original_11.obj b/PartNetMobility/Cart/102347/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92213bac2ea708026a63268164dfcf851a1c2e0f
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_11.obj
@@ -0,0 +1,584 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_13.mtl b/PartNetMobility/Cart/102347/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_13.obj b/PartNetMobility/Cart/102347/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..026dd59b4533eb1b0bd68f2e83efe67e65bb05eb
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_13.obj
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_14.mtl b/PartNetMobility/Cart/102347/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_14.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_14.obj b/PartNetMobility/Cart/102347/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c59171053be6d751130db664e9f36a20f775d42
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_14.obj
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new file mode 100644
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index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_30.obj b/PartNetMobility/Cart/102347/textured_objs/original_30.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_30.obj
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_45.mtl b/PartNetMobility/Cart/102347/textured_objs/original_45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46a059acfd4f9431f2cd6ad87f788db198f67788
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9294117647058824 0.9098039215686274 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_45.obj b/PartNetMobility/Cart/102347/textured_objs/original_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cfd98581048de4082495d29852421cd1b31676b
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_45.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 45
+mtllib original_45.mtl
+o mesh115/mesh115-geometry#mesh115-geometry
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+vn 0.0 0.9914448886106773 0.1305259853353411
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_46.mtl b/PartNetMobility/Cart/102347/textured_objs/original_46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83183b9131af8a72f31e70ddb6b8ef087c470a8a
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_46.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+newmtl material_2_0
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+Kd 0 0 0 
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+
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_46.obj b/PartNetMobility/Cart/102347/textured_objs/original_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7c03acd6fc963265138249f9ca27bdb28403b04
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_46.obj
@@ -0,0 +1,27045 @@
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+# 46
+mtllib original_46.mtl
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_47.obj b/PartNetMobility/Cart/102347/textured_objs/original_47.obj
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index 0000000000000000000000000000000000000000..930504cf08fb53b4a5fdb7267a5f936f74148ae1
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_51.mtl b/PartNetMobility/Cart/102347/textured_objs/original_51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_51.mtl
@@ -0,0 +1,15 @@
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+illum 3
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+map_Kd ../images/texture_3.jpg
+
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_51.obj b/PartNetMobility/Cart/102347/textured_objs/original_51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1dbaa56cfc69614b26ed1c98b264e14e547ffb8
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_51.obj
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_52.mtl b/PartNetMobility/Cart/102347/textured_objs/original_52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..46a059acfd4f9431f2cd6ad87f788db198f67788
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_52.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 
+
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_52.obj b/PartNetMobility/Cart/102347/textured_objs/original_52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4bdaedbd5239a1c4c66cb1223b9c142da0428a8
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_52.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 52
+mtllib original_52.mtl
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_53.mtl b/PartNetMobility/Cart/102347/textured_objs/original_53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83183b9131af8a72f31e70ddb6b8ef087c470a8a
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_53.mtl
@@ -0,0 +1,21 @@
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_53.obj b/PartNetMobility/Cart/102347/textured_objs/original_53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4bec5926d146cc47ce0ae556d44fd2ed9c9416
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_53.obj
@@ -0,0 +1,27045 @@
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+# 53
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_54.obj b/PartNetMobility/Cart/102347/textured_objs/original_54.obj
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_6.mtl b/PartNetMobility/Cart/102347/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102347/textured_objs/original_6.obj b/PartNetMobility/Cart/102347/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55432f8d566b1a893fe81bdefc999af4c751a7cf
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_6.obj
@@ -0,0 +1,584 @@
+# SSTK version 0.8.0
+# 6
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_8.mtl b/PartNetMobility/Cart/102347/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_8.obj b/PartNetMobility/Cart/102347/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6a8ba519a55fa3bf7a589381c72b6e1dfb7cdbd
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_8.obj
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_9.mtl b/PartNetMobility/Cart/102347/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/102347/textured_objs/original_9.obj b/PartNetMobility/Cart/102347/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7dc2bdeafd69e5995e3112a5105e81a70fc7f3
--- /dev/null
+++ b/PartNetMobility/Cart/102347/textured_objs/original_9.obj
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diff --git a/PartNetMobility/Cart/102546/bounding_box.json b/PartNetMobility/Cart/102546/bounding_box.json
new file mode 100644
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+++ b/PartNetMobility/Cart/102546/bounding_box.json
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diff --git a/PartNetMobility/Cart/102546/meta.json b/PartNetMobility/Cart/102546/meta.json
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--- /dev/null
+++ b/PartNetMobility/Cart/102546/meta.json
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+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "56dea47f522e92ed911d151ed0924c53", "version": "1", "anno_id": "2546", "time_in_sec": "33"}
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diff --git a/PartNetMobility/Cart/102546/mobility.urdf b/PartNetMobility/Cart/102546/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a4f862a9d5f64e8e5a6e30c630d9184c3fe62c42
--- /dev/null
+++ b/PartNetMobility/Cart/102546/mobility.urdf
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+		<visual name="wheel_1">
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+			</geometry>
+		</visual>
+		<visual name="wheel_1">
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+		<collision>
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+			<geometry>
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+		<child link="link_0"/>
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+		<visual name="base_body_2">
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+	</link>
+	<joint name="joint_1" type="fixed">
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+		<child link="link_1"/>
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+</robot>
diff --git a/PartNetMobility/Cart/102546/mobility_v2.json b/PartNetMobility/Cart/102546/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76879a3c2f9e52a96dc9c172c9de5385743bdd18
--- /dev/null
+++ b/PartNetMobility/Cart/102546/mobility_v2.json
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diff --git a/PartNetMobility/Cart/102546/result.json b/PartNetMobility/Cart/102546/result.json
new file mode 100644
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--- /dev/null
+++ b/PartNetMobility/Cart/102546/result.json
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+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-18", "original-17", "original-6", "original-19"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-21", "original-4", "original-2", "original-16", "original-8", "original-13", "original-9", "original-15", "original-11", "original-12", "original-20", "original-7", "original-1", "original-10", "original-14"]}]}]
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diff --git a/PartNetMobility/Cart/102546/result_original.json b/PartNetMobility/Cart/102546/result_original.json
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diff --git a/PartNetMobility/Cart/102546/semantics.txt b/PartNetMobility/Cart/102546/semantics.txt
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_1.mtl b/PartNetMobility/Cart/102546/textured_objs/original_1.mtl
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_1.obj b/PartNetMobility/Cart/102546/textured_objs/original_1.obj
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_10.mtl b/PartNetMobility/Cart/102546/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102546/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/Cart/102546/textured_objs/original_10.obj b/PartNetMobility/Cart/102546/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5db266fed9337a3d523357628d04ef4fdf1f964a
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_10.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
+o mesh5/mesh5-geometry/material_2/component_0#mesh5-geometry
+v 0.302617 0.246796 0.499238
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+vt 0 0
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+vn 0.0 -0.12459298852858867 -0.9922079354699372
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
+f 7/1/1 8/1/1 9/1/1
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_11.mtl b/PartNetMobility/Cart/102546/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102546/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/Cart/102546/textured_objs/original_11.obj b/PartNetMobility/Cart/102546/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95c2f9dbd4ec2fbc970fc62ecc9621ab6231f9ec
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_11.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
+o mesh5/mesh5-geometry/material_2/component_1#mesh5-geometry
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_12.mtl b/PartNetMobility/Cart/102546/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102546/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/Cart/102546/textured_objs/original_12.obj b/PartNetMobility/Cart/102546/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1319e0a868115777b84617bf9f5981ff34128321
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_12.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 12
+mtllib original_12.mtl
+o mesh5/mesh5-geometry/material_2/component_2#mesh5-geometry
+v -0.155618 -0.015008 -0.452249
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new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_13.obj b/PartNetMobility/Cart/102546/textured_objs/original_13.obj
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index 0000000000000000000000000000000000000000..c6b2140a0142f44093c80ecd3413fccf231f22d9
--- /dev/null
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_15.mtl b/PartNetMobility/Cart/102546/textured_objs/original_15.mtl
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index 0000000000000000000000000000000000000000..0f2220a41888d841eb7c73ae184b0f2e8455aa80
--- /dev/null
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_15.obj b/PartNetMobility/Cart/102546/textured_objs/original_15.obj
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index 0000000000000000000000000000000000000000..e17ad5803749707bd7bfad9609288520cfb5dc52
--- /dev/null
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index 0000000000000000000000000000000000000000..0f2220a41888d841eb7c73ae184b0f2e8455aa80
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_16.obj b/PartNetMobility/Cart/102546/textured_objs/original_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85aba3cf7a58764e18b1fc44db16f41c4a522d30
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_16.obj
@@ -0,0 +1,631 @@
+# SSTK version 0.8.0
+# 16
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_17.mtl b/PartNetMobility/Cart/102546/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0f2220a41888d841eb7c73ae184b0f2e8455aa80
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_17.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_17.obj b/PartNetMobility/Cart/102546/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70e1e70fd6e2c223e024ee061203a736ebf94b72
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_17.obj
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_18.mtl b/PartNetMobility/Cart/102546/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb970ac8ce9d0019ded45029c476f61f8b68cdbe
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_18.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_18.obj b/PartNetMobility/Cart/102546/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1faa25e31893f63bb5e4672b6b9944c865721e7
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_18.obj
@@ -0,0 +1,1185 @@
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_19.mtl b/PartNetMobility/Cart/102546/textured_objs/original_19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eb970ac8ce9d0019ded45029c476f61f8b68cdbe
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102546/textured_objs/original_19.obj b/PartNetMobility/Cart/102546/textured_objs/original_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a7b533378d04dd4a24fc94a5fee069d902588fe
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_19.obj
@@ -0,0 +1,1185 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_20.mtl b/PartNetMobility/Cart/102546/textured_objs/original_20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_20.obj b/PartNetMobility/Cart/102546/textured_objs/original_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fc8bfaefcb863e85a9fc675b4f9e6c015bfd467
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_20.obj
@@ -0,0 +1,234 @@
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_21.mtl b/PartNetMobility/Cart/102546/textured_objs/original_21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cc1185026f7f57099c18489371a918dcc08d1c76
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_21.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+
+newmtl material_1_0
+illum 3
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102546/textured_objs/original_21.obj b/PartNetMobility/Cart/102546/textured_objs/original_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2599a5e409853aebcb745ed9c979c36bb476c78
--- /dev/null
+++ b/PartNetMobility/Cart/102546/textured_objs/original_21.obj
@@ -0,0 +1,1788 @@
+# SSTK version 0.8.0
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_6.obj b/PartNetMobility/Cart/102546/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Cart/102546/textured_objs/original_7.mtl b/PartNetMobility/Cart/102546/textured_objs/original_7.mtl
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--- /dev/null
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+++ b/PartNetMobility/Cart/102548/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "62b0b158d42d244a20014e7ab3c6d48-0", "version": "1", "anno_id": "2548", "time_in_sec": "83"}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102548/mobility.urdf b/PartNetMobility/Cart/102548/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b26014bedb7f3789f5983c71ab69c9296b39c62c
--- /dev/null
+++ b/PartNetMobility/Cart/102548/mobility.urdf
@@ -0,0 +1,307 @@
+<?xml version="1.0" ?>
+<robot name="partnet_62b0b158d42d244a20014e7ab3c6d48_0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel_3">
+			<origin xyz="-0.03444945779104566 0.2496240296449357 -0.6449975218886628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_3">
+			<origin xyz="-0.03444945779104566 0.2496240296449357 -0.6449975218886628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.03444945779104566 0.2496240296449357 -0.6449975218886628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.03444945779104566 0.2496240296449357 -0.6449975218886628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.03444945779104566 -0.2496240296449357 0.6449975218886628"/>
+		<axis xyz="0.9951937591345188 -0.060867927036260525 -0.07671034635571518"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel_4">
+			<origin xyz="0.034644214152726935 0.24843126798760248 -0.6464985113260538"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_4">
+			<origin xyz="0.034644214152726935 0.24843126798760248 -0.6464985113260538"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.034644214152726935 0.24843126798760248 -0.6464985113260538"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.034644214152726935 0.24843126798760248 -0.6464985113260538"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.034644214152726935 -0.24843126798760248 0.6464985113260538"/>
+		<axis xyz="-0.9951930046944449 -0.060868297517293585 -0.07671983944579741"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel_5">
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_5">
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_5">
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.057353405927270125 0.23552997102896886 0.5571678584980441"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.057353405927270125 -0.23552997102896886 -0.5571678584980441"/>
+		<axis xyz="0.9951936180417125 0.06086809464802122 0.07671204379343467"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_6">
+			<origin xyz="0.05755350223314855 0.23672237762450163 0.5586717517575649"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_6">
+			<origin xyz="0.05755350223314855 0.23672237762450163 0.5586717517575649"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.05755350223314855 0.23672237762450163 0.5586717517575649"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.05755350223314855 0.23672237762450163 0.5586717517575649"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="-0.05755350223314855 -0.23672237762450163 -0.5586717517575649"/>
+		<axis xyz="0.9951921115612063 -0.06086721017236931 -0.07673228663463716"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.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_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.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_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102548/mobility_v2.json b/PartNetMobility/Cart/102548/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfd0d267cd4c3b2bb6c3425d3a912a5f192a21bc
--- /dev/null
+++ b/PartNetMobility/Cart/102548/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.03444945779104566, -0.2496240296449357, 0.6449975218886628], "direction": [0.9951937591345188, -0.060867927036260525, -0.07671034635571518]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.034644214152726935, -0.24843126798760248, 0.6464985113260538], "direction": [-0.9951930046944449, -0.060868297517293585, -0.07671983944579741]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 5, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0.057353405927270125, -0.23552997102896886, -0.5571678584980441], "direction": [0.9951936180417125, 0.06086809464802122, 0.07671204379343467]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 5, "joint": "hinge", "name": "wheel", "parts": [{"id": 6, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [-0.05755350223314855, -0.23672237762450163, -0.5586717517575649], "direction": [0.9951921115612063, -0.06086721017236931, -0.07673228663463716]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "junk", "name": "outlier", "parts": [{"id": 7, "name": "outlier", "children": []}], "jointData": {}}, {"id": 5, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 8, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102548/result.json b/PartNetMobility/Cart/102548/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9100fbcee87a0442ae64510f6dc5a0df114c60eb
--- /dev/null
+++ b/PartNetMobility/Cart/102548/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-9", "original-5"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-22", "original-25"]}, {"text": "wheel", "name": "wheel", "id": 5, "objs": ["original-32", "original-31", "original-28"]}, {"text": "wheel", "name": "wheel", "id": 6, "objs": ["original-15", "original-12"]}, {"text": "outlier", "name": "outlier", "id": 7, "objs": ["original-30", "original-8"]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-33", "original-2", "original-16", "original-13", "original-6", "original-23", "original-34", "original-17", "original-24", "original-7", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102548/result_original.json b/PartNetMobility/Cart/102548/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8bf33f5ccc9800c5186a9b04c4eebd5bc74e31
--- /dev/null
+++ b/PartNetMobility/Cart/102548/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-9", "original-5"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-22", "original-25"]}, {"id": 5, "name": "wheel", "text": "wheel", "objs": ["original-32", "original-31", "original-28"]}, {"id": 6, "name": "wheel", "text": "wheel", "objs": ["original-15", "original-12"]}, {"id": 7, "name": "outlier", "text": "outlier", "objs": ["original-30", "original-8"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102548/semantics.txt b/PartNetMobility/Cart/102548/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732a22f9cebc01e3e6dc7ec7da1c9295fbe98615
--- /dev/null
+++ b/PartNetMobility/Cart/102548/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free cart_body
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_12.mtl b/PartNetMobility/Cart/102548/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_12.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_12.obj b/PartNetMobility/Cart/102548/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a29e1e743e3b535f7106e5f34d2417faff259e
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_12.obj
@@ -0,0 +1,7828 @@
+# SSTK version 0.8.0
+# 12
+mtllib original_12.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
+v -0.141884 -0.315324 -0.636743
+v -0.148206 -0.277608 -0.607406
+v -0.141878 -0.315467 -0.636558
+v -0.141879 -0.315502 -0.636513
+v -0.141876 -0.315606 -0.636379
+v -0.141935 -0.316736 -0.637833
+v -0.141879 -0.315477 -0.636567
+v -0.141877 -0.315519 -0.636518
+v -0.141194 -0.335924 -0.613006
+v -0.141875 -0.31562 -0.636382
+v -0.141879 -0.315653 -0.636415
+v -0.141873 -0.315632 -0.636388
+v -0.148009 -0.261688 -0.617485
+v -0.148066 -0.286631 -0.598434
+v -0.141149 -0.334368 -0.612102
+v -0.141828 -0.291113 -0.655234
+v -0.14116 -0.334278 -0.612318
+v -0.141822 -0.290896 -0.655324
+v -0.14802 -0.266788 -0.61359
+v -0.141143 -0.334512 -0.611916
+v -0.147465 -0.296795 -0.582579
+v -0.142699 -0.377489 -0.645085
+v -0.141878 -0.291793 -0.656884
+v -0.141821 -0.29071 -0.655466
+v -0.152222 -0.254179 -0.607666
+v -0.148054 -0.281531 -0.602329
+v -0.147921 -0.290393 -0.593566
+v -0.139684 -0.346312 -0.583622
+v -0.143439 -0.358301 -0.669912
+v -0.147518 -0.249647 -0.620668
+v -0.143589 -0.3486 -0.679558
+v -0.140722 -0.396497 -0.60436
+v -0.140994 -0.262542 -0.667034
+v -0.159553 -0.241117 -0.590586
+v -0.147617 -0.292872 -0.587655
+v -0.152453 -0.267899 -0.599775
+v -0.143532 -0.323656 -0.698609
+v -0.142209 -0.384373 -0.633271
+v -0.15228 -0.279123 -0.588616
+v -0.159843 -0.251009 -0.586501
+v -0.139701 -0.347164 -0.583974
+v -0.146256 -0.224923 -0.623917
+v -0.147344 -0.243718 -0.623117
+v -0.147842 -0.256002 -0.619833
+v -0.148194 -0.272717 -0.611141
+v -0.151603 -0.2389 -0.611751
+v -0.140993 -0.262549 -0.667044
+v -0.140985 -0.262333 -0.667133
+v -0.141027 -0.262793 -0.668859
+v -0.140986 -0.262394 -0.667112
+v -0.162094 -0.236589 -0.584664
+v -0.162405 -0.245153 -0.581899
+v -0.146738 -0.300039 -0.570566
+v -0.139707 -0.348048 -0.584094
+v -0.1397 -0.34628 -0.583854
+v -0.13969 -0.346578 -0.583732
+v -0.140991 -0.262557 -0.667056
+v -0.140988 -0.262383 -0.667099
+v -0.140984 -0.26233 -0.667121
+v -0.139411 -0.231581 -0.671127
+v -0.14658 -0.231278 -0.623082
+v -0.140978 -0.262113 -0.66721
+v -0.150637 -0.2231 -0.611751
+v -0.143333 -0.311797 -0.705429
+v -0.140996 -0.262562 -0.66709
+v -0.139422 -0.231715 -0.671144
+v -0.15961 -0.266061 -0.571536
+v -0.162335 -0.246969 -0.57955
+v -0.139673 -0.346402 -0.583406
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_13.mtl b/PartNetMobility/Cart/102548/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_13.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_13.obj b/PartNetMobility/Cart/102548/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3b55bf45b4c87051a97603a5f7d88ed9709c77
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_13.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
+# 13
+mtllib original_13.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
+v -0.119721 -0.20221 -0.438998
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+usemtl material_0_0
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_14.mtl b/PartNetMobility/Cart/102548/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_14.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_14.obj b/PartNetMobility/Cart/102548/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b945e78a152860940ac5c623b06f45aabe0734ad
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_14.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 14
+mtllib original_14.mtl
+o mesh12/mesh12-geometry#mesh12-geometry
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_15.mtl b/PartNetMobility/Cart/102548/textured_objs/original_15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8773ea431defbe345100d85e3984f965a0f8bdb
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_15.mtl
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_15.obj b/PartNetMobility/Cart/102548/textured_objs/original_15.obj
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index 0000000000000000000000000000000000000000..5859e0f6eda099cc83383aa3acd9c53db5d683a8
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_16.mtl b/PartNetMobility/Cart/102548/textured_objs/original_16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c893b9b2ba2eda2b8fb6546edaa83bfc6c459aaa
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_16.obj b/PartNetMobility/Cart/102548/textured_objs/original_16.obj
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index 0000000000000000000000000000000000000000..3e0f64437c88916ee9fbd1ba3b673e629586e062
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_17.mtl b/PartNetMobility/Cart/102548/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_17.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/Cart/102548/textured_objs/original_17.obj b/PartNetMobility/Cart/102548/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b36db81239a8a01cc04bf8d90fe6dd4b11619dfb
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_17.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_19.mtl b/PartNetMobility/Cart/102548/textured_objs/original_19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_19.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_19.obj b/PartNetMobility/Cart/102548/textured_objs/original_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30a59fafdf4be5eb5b135a7c77973a252de012e6
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_19.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_22.mtl b/PartNetMobility/Cart/102548/textured_objs/original_22.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_22.obj b/PartNetMobility/Cart/102548/textured_objs/original_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f8955c2c00e4075ab003462096fa6a904dba32
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_22.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_23.obj b/PartNetMobility/Cart/102548/textured_objs/original_23.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_28.mtl b/PartNetMobility/Cart/102548/textured_objs/original_28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_28.mtl
@@ -0,0 +1,8 @@
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_28.obj b/PartNetMobility/Cart/102548/textured_objs/original_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3531ab22219e285c72b229016b8ce72c353934c
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_28.obj
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+++ b/PartNetMobility/Cart/102548/textured_objs/original_29.mtl
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_29.obj b/PartNetMobility/Cart/102548/textured_objs/original_29.obj
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+++ b/PartNetMobility/Cart/102548/textured_objs/original_29.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_30.obj b/PartNetMobility/Cart/102548/textured_objs/original_30.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_31.obj b/PartNetMobility/Cart/102548/textured_objs/original_31.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_31.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_32.obj b/PartNetMobility/Cart/102548/textured_objs/original_32.obj
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--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_32.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_33.mtl b/PartNetMobility/Cart/102548/textured_objs/original_33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c893b9b2ba2eda2b8fb6546edaa83bfc6c459aaa
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_33.mtl
@@ -0,0 +1,52 @@
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_34.mtl b/PartNetMobility/Cart/102548/textured_objs/original_34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_34.obj b/PartNetMobility/Cart/102548/textured_objs/original_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f957f2d90a65acb4cbb3ba5d3054fcd10844e1c1
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_34.obj
@@ -0,0 +1,1057 @@
+# SSTK version 0.8.0
+# 34
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_5.mtl b/PartNetMobility/Cart/102548/textured_objs/original_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_5.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_5.obj b/PartNetMobility/Cart/102548/textured_objs/original_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6b65022f93c030ee6c1874f3671d7c999a095e8
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_5.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_6.mtl b/PartNetMobility/Cart/102548/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_6.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_6.obj b/PartNetMobility/Cart/102548/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298bc5085819fb13d04992226ed4a6c0995e46b2
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_6.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_7.mtl b/PartNetMobility/Cart/102548/textured_objs/original_7.mtl
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_7.obj b/PartNetMobility/Cart/102548/textured_objs/original_7.obj
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index 0000000000000000000000000000000000000000..476b627059406a1f37ae1c76f3462144d2d68f57
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_7.obj
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diff --git a/PartNetMobility/Cart/102548/textured_objs/original_8.mtl b/PartNetMobility/Cart/102548/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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+++ b/PartNetMobility/Cart/102548/textured_objs/original_8.mtl
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+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102548/textured_objs/original_8.obj b/PartNetMobility/Cart/102548/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..749c00bbc7b0b8fb26c8d612f550ec77f3dfe819
--- /dev/null
+++ b/PartNetMobility/Cart/102548/textured_objs/original_8.obj
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index 0000000000000000000000000000000000000000..487609a11ac8a4163d8ed5a6048598713ca0dfa7
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+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_3">
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0 -0.41483 -0.598539"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_4">
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_4">
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_4">
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.41483 0.598539"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0 -0.41483 -0.598539"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102551/mobility_v2.json b/PartNetMobility/Cart/102551/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..50a5d475deca47116d901dfb7ce4ecb2101c84bd
--- /dev/null
+++ b/PartNetMobility/Cart/102551/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.41483020741898524, 0.5469585], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.41483020741898524, 0.5469585], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.41483, -0.598539], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.41483, -0.598539], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102551/result.json b/PartNetMobility/Cart/102551/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c496fc5c806f154eafea5940f9b94bb9618e5af0
--- /dev/null
+++ b/PartNetMobility/Cart/102551/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-18", "original-17", "original-21"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-22", "original-14", "original-15"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-19", "original-12", "original-11"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-20", "original-8", "original-9"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-4", "original-3", "original-5", "original-6"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102551/result_original.json b/PartNetMobility/Cart/102551/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cca0d598b912bdee212873486ae37df75c9ee1f
--- /dev/null
+++ b/PartNetMobility/Cart/102551/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-18", "original-17", "original-21"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-22", "original-14", "original-15"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-19", "original-12", "original-11"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-20", "original-8", "original-9"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102551/semantics.txt b/PartNetMobility/Cart/102551/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732a22f9cebc01e3e6dc7ec7da1c9295fbe98615
--- /dev/null
+++ b/PartNetMobility/Cart/102551/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free cart_body
diff --git a/PartNetMobility/Cart/102551/textured_objs/original_11.mtl b/PartNetMobility/Cart/102551/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7043627c1cf225c1a22d0febcc2f026f202980fe
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0.39215686274509803 0.39215686274509803 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Cart/102551/textured_objs/original_11.obj b/PartNetMobility/Cart/102551/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36a62b61618faf5340b582f1db9f2ed89f0ca43c
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_11.obj
@@ -0,0 +1,305 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_14.mtl b/PartNetMobility/Cart/102551/textured_objs/original_14.mtl
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index 0000000000000000000000000000000000000000..e4b21ffc3d59ccd2680d7ac178a705d7cbb45776
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_14.obj b/PartNetMobility/Cart/102551/textured_objs/original_14.obj
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index 0000000000000000000000000000000000000000..e4b21ffc3d59ccd2680d7ac178a705d7cbb45776
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_15.obj b/PartNetMobility/Cart/102551/textured_objs/original_15.obj
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index 0000000000000000000000000000000000000000..32b3b125154e1a13219827cf9a45b289da1eafca
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_19.mtl b/PartNetMobility/Cart/102551/textured_objs/original_19.mtl
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index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_19.obj b/PartNetMobility/Cart/102551/textured_objs/original_19.obj
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index 0000000000000000000000000000000000000000..6924f4595fefd9186e9655c5f07fe3d6b5983035
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_20.mtl b/PartNetMobility/Cart/102551/textured_objs/original_20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_20.mtl
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_20.obj b/PartNetMobility/Cart/102551/textured_objs/original_20.obj
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index 0000000000000000000000000000000000000000..e978cf1390637d750a5fd994c56237e9b710dfa0
--- /dev/null
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_21.mtl b/PartNetMobility/Cart/102551/textured_objs/original_21.mtl
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index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_21.obj b/PartNetMobility/Cart/102551/textured_objs/original_21.obj
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index 0000000000000000000000000000000000000000..2e8a60587bf1c98777c1e74d5318383a2b3feb15
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_22.mtl b/PartNetMobility/Cart/102551/textured_objs/original_22.mtl
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index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_22.obj b/PartNetMobility/Cart/102551/textured_objs/original_22.obj
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index 0000000000000000000000000000000000000000..966451227761c8e096db2f4c5ad436614fba93cd
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_4.mtl b/PartNetMobility/Cart/102551/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4971926e76b24270f3b8d0325924bdb2a1c63399
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_4.mtl
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_4.obj b/PartNetMobility/Cart/102551/textured_objs/original_4.obj
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index 0000000000000000000000000000000000000000..4a370e8163ec6094fe11a0c18dc6ba4a4c56b334
--- /dev/null
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index 0000000000000000000000000000000000000000..4971926e76b24270f3b8d0325924bdb2a1c63399
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_5.obj b/PartNetMobility/Cart/102551/textured_objs/original_5.obj
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index 0000000000000000000000000000000000000000..1735b5eb4167a560dd302ef4866bf58fa1cc02c2
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_6.mtl b/PartNetMobility/Cart/102551/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..527387dd4e985faa3de79b3fb0fb72e84753a2f4
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Cart/102551/textured_objs/original_6.obj b/PartNetMobility/Cart/102551/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08920168004e19596ccd97aada2ab130941d7c1a
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_6.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 6
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_8.mtl b/PartNetMobility/Cart/102551/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7043627c1cf225c1a22d0febcc2f026f202980fe
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/102551/textured_objs/original_8.obj b/PartNetMobility/Cart/102551/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbf47036a328a6e1e099ccce7135b313300f505b
--- /dev/null
+++ b/PartNetMobility/Cart/102551/textured_objs/original_8.obj
@@ -0,0 +1,305 @@
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+# 8
+mtllib original_8.mtl
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diff --git a/PartNetMobility/Cart/102552/bounding_box.json b/PartNetMobility/Cart/102552/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..365a900ac81078157fa33973f144128df69e64bb
--- /dev/null
+++ b/PartNetMobility/Cart/102552/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.441046, -0.601407, -0.793437], "max": [0.448359, 0.657042, 0.728049]}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102552/images/texture_0.png b/PartNetMobility/Cart/102552/images/texture_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f41887081bce21d42d0ffa0a8373d2c617d5ed3
--- /dev/null
+++ b/PartNetMobility/Cart/102552/images/texture_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe3aaa036e7d1070f7b7b544c1964d45e22f74e48218403b468f56b195020d4
+size 13032
diff --git a/PartNetMobility/Cart/102552/images/texture_1.png b/PartNetMobility/Cart/102552/images/texture_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f41887081bce21d42d0ffa0a8373d2c617d5ed3
--- /dev/null
+++ b/PartNetMobility/Cart/102552/images/texture_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe3aaa036e7d1070f7b7b544c1964d45e22f74e48218403b468f56b195020d4
+size 13032
diff --git a/PartNetMobility/Cart/102552/meta.json b/PartNetMobility/Cart/102552/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8fc97a638b6e1d8f966ac2f771585ded090590d
--- /dev/null
+++ b/PartNetMobility/Cart/102552/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "9f4cbba1f5e76efdd50ddee3f22c666b-1", "version": "1", "anno_id": "2552", "time_in_sec": "31"}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102552/mobility.urdf b/PartNetMobility/Cart/102552/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf8c630927a8ec988a79e176e40bcc87cadf97cb
--- /dev/null
+++ b/PartNetMobility/Cart/102552/mobility.urdf
@@ -0,0 +1,235 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9f4cbba1f5e76efdd50ddee3f22c666b_1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel_1">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_1">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_1">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0 -0.43968528164361587 -0.631716"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel_2">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_2">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_2">
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.43968528164361587 0.631716"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0 -0.43968528164361587 -0.631716"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel_3">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_3">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_3">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0 -0.4396852711091846 0.5353722711091846"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_4">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_4">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_4">
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.4396852711091846 -0.5353722711091846"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0 -0.4396852711091846 0.5353722711091846"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102552/mobility_v2.json b/PartNetMobility/Cart/102552/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7823100757d1bc7155f4bce003ea3f9809ba6e7
--- /dev/null
+++ b/PartNetMobility/Cart/102552/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.43968528164361587, -0.631716], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.43968528164361587, -0.631716], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.4396852711091846, 0.5353722711091846], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.4396852711091846, 0.5353722711091846], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102552/result.json b/PartNetMobility/Cart/102552/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..545c864f99f688d3a2673b816202c5b9df046d5c
--- /dev/null
+++ b/PartNetMobility/Cart/102552/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-9", "original-8", "original-21"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-19", "original-11", "original-12"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-18", "original-17", "original-22"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-20", "original-14", "original-15"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-4", "original-3", "original-5", "original-6"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102552/result_original.json b/PartNetMobility/Cart/102552/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b999bf55e5b593d0abb2680ae57da0e8a4a8e8d9
--- /dev/null
+++ b/PartNetMobility/Cart/102552/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-9", "original-8", "original-21"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-19", "original-11", "original-12"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-18", "original-17", "original-22"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-20", "original-14", "original-15"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102552/semantics.txt b/PartNetMobility/Cart/102552/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732a22f9cebc01e3e6dc7ec7da1c9295fbe98615
--- /dev/null
+++ b/PartNetMobility/Cart/102552/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free cart_body
diff --git a/PartNetMobility/Cart/102552/textured_objs/original_11.mtl b/PartNetMobility/Cart/102552/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7043627c1cf225c1a22d0febcc2f026f202980fe
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 20
+Kd 0.39215686274509803 0.39215686274509803 1 
+Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 
+
diff --git a/PartNetMobility/Cart/102552/textured_objs/original_11.obj b/PartNetMobility/Cart/102552/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edf1d48e91d033a9b4c99aae19af4bf9591ae8aa
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_11.obj
@@ -0,0 +1,305 @@
+# SSTK version 0.8.0
+# 11
+mtllib original_11.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
+v -0.359070 -0.462546 -0.560594
+v -0.401732 -0.462546 -0.589748
+v -0.401732 -0.462546 -0.560594
+v -0.359070 -0.462546 -0.589748
+v -0.359070 -0.480887 -0.564141
+v -0.359070 -0.510574 -0.589896
+v -0.401732 -0.510574 -0.589896
+v -0.401732 -0.480887 -0.564141
+v -0.401732 -0.472862 -0.593019
+v -0.359070 -0.472862 -0.593019
+v -0.359070 -0.523405 -0.627044
+v -0.401732 -0.523405 -0.627044
+v -0.401732 -0.489184 -0.610893
+v -0.359070 -0.489184 -0.610893
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_14.obj b/PartNetMobility/Cart/102552/textured_objs/original_14.obj
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_15.mtl b/PartNetMobility/Cart/102552/textured_objs/original_15.mtl
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index 0000000000000000000000000000000000000000..e4b21ffc3d59ccd2680d7ac178a705d7cbb45776
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_18.obj b/PartNetMobility/Cart/102552/textured_objs/original_18.obj
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index 0000000000000000000000000000000000000000..c48e686409f956f79385c48bd7b749115e3c1bab
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index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_19.obj b/PartNetMobility/Cart/102552/textured_objs/original_19.obj
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index 0000000000000000000000000000000000000000..ab63cad35db845c5b0ceeb9f997c0aacb65e959b
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index 0000000000000000000000000000000000000000..c18eb33ae955fabd01edb0b7191facd566630aff
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_20.obj b/PartNetMobility/Cart/102552/textured_objs/original_20.obj
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index 0000000000000000000000000000000000000000..9f740a1999a91d636a9072d25528f53ec05e325f
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_3.mtl b/PartNetMobility/Cart/102552/textured_objs/original_3.mtl
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index 0000000000000000000000000000000000000000..e9f397a36636ac0aada24ff652b0310c4c6c32c4
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_3.obj b/PartNetMobility/Cart/102552/textured_objs/original_3.obj
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index 0000000000000000000000000000000000000000..48e5a62a89b70c3f214536e85ca0971280026896
--- /dev/null
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_5.mtl b/PartNetMobility/Cart/102552/textured_objs/original_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4971926e76b24270f3b8d0325924bdb2a1c63399
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_5.mtl
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_5.obj b/PartNetMobility/Cart/102552/textured_objs/original_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..576a0e405141fc921ad5bcc33ab24c5c6fa7fc64
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_5.obj
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_6.mtl b/PartNetMobility/Cart/102552/textured_objs/original_6.mtl
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index 0000000000000000000000000000000000000000..4971926e76b24270f3b8d0325924bdb2a1c63399
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_6.obj b/PartNetMobility/Cart/102552/textured_objs/original_6.obj
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index 0000000000000000000000000000000000000000..8b1430c775b3ce454f7e9b640b4819bd10260d58
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_8.mtl b/PartNetMobility/Cart/102552/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7043627c1cf225c1a22d0febcc2f026f202980fe
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_8.mtl
@@ -0,0 +1,7 @@
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diff --git a/PartNetMobility/Cart/102552/textured_objs/original_8.obj b/PartNetMobility/Cart/102552/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..712231d658721533418d6264dc16817a9b025275
--- /dev/null
+++ b/PartNetMobility/Cart/102552/textured_objs/original_8.obj
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diff --git a/PartNetMobility/Cart/102555/bounding_box.json b/PartNetMobility/Cart/102555/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1b277c8af9489d379e5bf990fc76cc4ebcfff2
--- /dev/null
+++ b/PartNetMobility/Cart/102555/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.288761, -0.281049, -0.939493], "max": [0.288287, 0.233347, 0.558147]}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102555/images/texture_0.jpg b/PartNetMobility/Cart/102555/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eade35831e34322ff007dc57f4c5015961302b9a
--- /dev/null
+++ b/PartNetMobility/Cart/102555/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2263c82eba2f77bbd44bae236509f7dd0ddd8868f3d00c72554a415927e7c1
+size 2956
diff --git a/PartNetMobility/Cart/102555/images/texture_1.png b/PartNetMobility/Cart/102555/images/texture_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..128551dbe2eba13ad40b6cedcd54b167ccc070a7
--- /dev/null
+++ b/PartNetMobility/Cart/102555/images/texture_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf9f07c92cd17d3d055346901953e469ea56233519b0334862d3e862fcceb82
+size 25108
diff --git a/PartNetMobility/Cart/102555/images/texture_2.jpg b/PartNetMobility/Cart/102555/images/texture_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/PartNetMobility/Cart/102555/images/texture_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/PartNetMobility/Cart/102555/meta.json b/PartNetMobility/Cart/102555/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab903d8401a1d9d04943253ffee670ad9169c35
--- /dev/null
+++ b/PartNetMobility/Cart/102555/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "aa3e3c269e37ed428fa58bb58e138a3-0", "version": "1", "anno_id": "2555", "time_in_sec": "11"}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102555/mobility.urdf b/PartNetMobility/Cart/102555/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..167d034c7815c07d4ede32b2f15bf8c9123239de
--- /dev/null
+++ b/PartNetMobility/Cart/102555/mobility.urdf
@@ -0,0 +1,127 @@
+<?xml version="1.0" ?>
+<robot name="partnet_aa3e3c269e37ed428fa58bb58e138a3_0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel_1">
+			<origin xyz="0 0.0956858660257287 -0.33688450000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="wheel_1">
+			<origin xyz="0 0.0956858660257287 -0.33688450000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.0956858660257287 -0.33688450000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0.0956858660257287 -0.33688450000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0 -0.0956858660257287 0.33688450000000003"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.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_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102555/mobility_v2.json b/PartNetMobility/Cart/102555/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..05fec52783564de2958032722446bc45f62c8494
--- /dev/null
+++ b/PartNetMobility/Cart/102555/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.0956858660257287, 0.33688450000000003], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102555/result.json b/PartNetMobility/Cart/102555/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac4075ce201fcb11dd9f893d2da399ec717de043
--- /dev/null
+++ b/PartNetMobility/Cart/102555/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-4", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-13", "original-9", "original-11", "original-12", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102555/result_original.json b/PartNetMobility/Cart/102555/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..b85c54fc54e76ad6a113f34e4b67cd0e8a491ac1
--- /dev/null
+++ b/PartNetMobility/Cart/102555/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-4", "original-3"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102555/semantics.txt b/PartNetMobility/Cart/102555/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c80b9b97f82255beaa6e9debe0ddf1553f76af
--- /dev/null
+++ b/PartNetMobility/Cart/102555/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge wheel
+link_1 free cart_body
diff --git a/PartNetMobility/Cart/102555/textured_objs/original_1.mtl b/PartNetMobility/Cart/102555/textured_objs/original_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/PartNetMobility/Cart/102555/textured_objs/original_1.obj b/PartNetMobility/Cart/102555/textured_objs/original_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47fcc2f89d16acbcbaf3f335199d2218cd4218a
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_1.obj
@@ -0,0 +1,8401 @@
+# SSTK version 0.8.0
+# 1
+mtllib original_1.mtl
+o cuva_roba1/cuva_roba/mesh1/mesh1-geometry#mesh1-geometry
+v 0.248198 0.182958 -0.386337
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_11.mtl b/PartNetMobility/Cart/102555/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c8ee44b0558239f116d5aea71d9532d9117afb9
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_11.mtl
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_11.obj b/PartNetMobility/Cart/102555/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7426f799de5c2d4cd1532216fab15e9094ab4f05
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_11.obj
@@ -0,0 +1,10911 @@
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_12.mtl b/PartNetMobility/Cart/102555/textured_objs/original_12.mtl
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index 0000000000000000000000000000000000000000..38b524ddd49c3e7b9ada76f88f89caf93e22dd98
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_12.mtl
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_12.obj b/PartNetMobility/Cart/102555/textured_objs/original_12.obj
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index 0000000000000000000000000000000000000000..8df49cf305ee1e3a161a4029b1c52177b6d5a429
--- /dev/null
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_13.mtl b/PartNetMobility/Cart/102555/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b7c1014643be3420b6a9eca334483ba662da3c4
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_13.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ns 30
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+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/Cart/102555/textured_objs/original_13.obj b/PartNetMobility/Cart/102555/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ccaf46dabeb5151f771470cadd8163f062fe2f3
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_13.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 13
+mtllib original_13.mtl
+o mesh34/mesh34-geometry#mesh34-geometry
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_3.mtl b/PartNetMobility/Cart/102555/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcb4ce9760cf1cf3de566b748395c4b888046167
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_3.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
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+map_Kd ../images/texture_1.png
+
+newmtl material_1_0
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_3.obj b/PartNetMobility/Cart/102555/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea37b62cd5acd5166c6876ef553dea275d007759
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_3.obj
@@ -0,0 +1,3870 @@
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_4.obj b/PartNetMobility/Cart/102555/textured_objs/original_4.obj
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index 0000000000000000000000000000000000000000..45af6d766760ac2ae5fe66846eae7a166b5c4057
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_7.mtl b/PartNetMobility/Cart/102555/textured_objs/original_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8c8ee44b0558239f116d5aea71d9532d9117afb9
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_7.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
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+
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+
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+
diff --git a/PartNetMobility/Cart/102555/textured_objs/original_7.obj b/PartNetMobility/Cart/102555/textured_objs/original_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..594698a6bc09131bde1cee1e0e1bf8920781c06e
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_7.obj
@@ -0,0 +1,10911 @@
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_8.mtl b/PartNetMobility/Cart/102555/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..38b524ddd49c3e7b9ada76f88f89caf93e22dd98
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_8.mtl
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_8.obj b/PartNetMobility/Cart/102555/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f4cdca0f75bdd3ea8ccce996402c70ba8d01ee
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_8.obj
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_9.mtl b/PartNetMobility/Cart/102555/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b7c1014643be3420b6a9eca334483ba662da3c4
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_9.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/102555/textured_objs/original_9.obj b/PartNetMobility/Cart/102555/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ab7a6d737757de9768ffebfa4e32e76611d04e1
--- /dev/null
+++ b/PartNetMobility/Cart/102555/textured_objs/original_9.obj
@@ -0,0 +1,40 @@
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+# 9
+mtllib original_9.mtl
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diff --git a/PartNetMobility/Cart/102556/bounding_box.json b/PartNetMobility/Cart/102556/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84312ce4abe9579528f2b6a57320f103f4c8411
--- /dev/null
+++ b/PartNetMobility/Cart/102556/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.671631, -0.521583, -0.768472], "max": [0.899961, 0.572565, 0.625082]}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102556/images/texture_0.jpg b/PartNetMobility/Cart/102556/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4a8acec6b90568876bc05aafdb01f3c6fb77d859
--- /dev/null
+++ b/PartNetMobility/Cart/102556/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1379cfb746e2ac78059fe9e456cf9e7d6f4dc49886fc0c7418cb31b5913f47c3
+size 1022
diff --git a/PartNetMobility/Cart/102556/images/texture_1.jpg b/PartNetMobility/Cart/102556/images/texture_1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..99efc5883221732f79dd9eb7b34add924e140494
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+++ b/PartNetMobility/Cart/102556/images/texture_1.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/PartNetMobility/Cart/102556/images/texture_2.jpg b/PartNetMobility/Cart/102556/images/texture_2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1a8e633c18df0b7ff70d3ac7ecf46b6944f03384
--- /dev/null
+++ b/PartNetMobility/Cart/102556/images/texture_2.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172ef612abe5c96b979e8b1fc45a29c4f2ae5d91aa093b37559deec49762651d
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diff --git a/PartNetMobility/Cart/102556/images/texture_3.jpg b/PartNetMobility/Cart/102556/images/texture_3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fc657741906e288e24ea61ab44f4f55d46303be8
--- /dev/null
+++ b/PartNetMobility/Cart/102556/images/texture_3.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f351b124e271c3d4995af7762f73ecfb327189863dd17c5c9b573bdbbfca9d
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diff --git a/PartNetMobility/Cart/102556/meta.json b/PartNetMobility/Cart/102556/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b62af98c00c757eb850c8cf1aa7d88d801c4bfcc
--- /dev/null
+++ b/PartNetMobility/Cart/102556/meta.json
@@ -0,0 +1 @@
+{"user_id": "haozhu", "model_cat": "Cart", "model_id": "c2b852f604f2120220be9586ef83eabb", "version": "1", "anno_id": "2556", "time_in_sec": "24"}
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102556/mobility.urdf b/PartNetMobility/Cart/102556/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d782215d45469c9ca4cd29b63dbbd50d08e565f1
--- /dev/null
+++ b/PartNetMobility/Cart/102556/mobility.urdf
@@ -0,0 +1,331 @@
+<?xml version="1.0" ?>
+<robot name="partnet_c2b852f604f2120220be9586ef83eabb">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="wheel_1">
+			<origin xyz="0 0.42996753410862787 -0.39689"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.42996753410862787 -0.39689"/>
+			<geometry>
+				<mesh filename="textured_objs/original_12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0 -0.42996753410862787 0.39689"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_1">
+		<visual name="wheel_2">
+			<origin xyz="0 0.42996753410862787 -0.39689"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.42996753410862787 -0.39689"/>
+			<geometry>
+				<mesh filename="textured_objs/original_11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0 -0.42996753410862787 0.39689"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_2">
+		<visual name="wheel_3">
+			<origin xyz="0 0.322419 0.21255061612244294"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.322419 0.21255061612244294"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0 -0.322419 -0.21255061612244294"/>
+		<axis xyz="-1 0 0"/>
+		<child link="link_2"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_3">
+		<visual name="wheel_4">
+			<origin xyz="0 0.32116734908858563 0.17080473574619628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0.32116734908858563 0.17080473574619628"/>
+			<geometry>
+				<mesh filename="textured_objs/original_25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="continuous">
+		<origin xyz="0 -0.32116734908858563 -0.17080473574619628"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_3"/>
+		<parent link="link_4"/>
+	</joint>
+	<link name="link_4">
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<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_22.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_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_23.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_17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102556/mobility_v2.json b/PartNetMobility/Cart/102556/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a4cb985a98a31765299ee0bcdf7c990566b7ff8
--- /dev/null
+++ b/PartNetMobility/Cart/102556/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.42996753410862787, 0.39689], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.42996753410862787, 0.39689], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.322419, -0.21255061612244294], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.32116734908858563, -0.17080473574619628], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102556/result.json b/PartNetMobility/Cart/102556/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3230f7b6e7de69d683ade70eb7e8927b991f73
--- /dev/null
+++ b/PartNetMobility/Cart/102556/result.json
@@ -0,0 +1 @@
+[{"text": "Cart", "name": "Cart", "id": 0, "children": [{"text": "wheel", "name": "wheel", "id": 1, "objs": ["original-12"]}, {"text": "wheel", "name": "wheel", "id": 2, "objs": ["original-11"]}, {"text": "wheel", "name": "wheel", "id": 3, "objs": ["original-10"]}, {"text": "wheel", "name": "wheel", "id": 4, "objs": ["original-25"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-21", "original-22", "original-26", "original-4", "original-3", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-23", "original-18", "original-17", "original-24", "original-20", "original-7", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102556/result_original.json b/PartNetMobility/Cart/102556/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1a4f3ef838034f09911efe8e408c5cae095dc1
--- /dev/null
+++ b/PartNetMobility/Cart/102556/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Cart", "text": "Cart", "children": [{"id": 1, "name": "wheel", "text": "wheel", "objs": ["original-12"]}, {"id": 2, "name": "wheel", "text": "wheel", "objs": ["original-11"]}, {"id": 3, "name": "wheel", "text": "wheel", "objs": ["original-10"]}, {"id": 4, "name": "wheel", "text": "wheel", "objs": ["original-25"]}]}]
\ No newline at end of file
diff --git a/PartNetMobility/Cart/102556/semantics.txt b/PartNetMobility/Cart/102556/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..732a22f9cebc01e3e6dc7ec7da1c9295fbe98615
--- /dev/null
+++ b/PartNetMobility/Cart/102556/semantics.txt
@@ -0,0 +1,5 @@
+link_0 hinge wheel
+link_1 hinge wheel
+link_2 hinge wheel
+link_3 hinge wheel
+link_4 free cart_body
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_10.mtl b/PartNetMobility/Cart/102556/textured_objs/original_10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_10.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/Cart/102556/textured_objs/original_10.obj b/PartNetMobility/Cart/102556/textured_objs/original_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95542c4bb0517b931e17f333bb982863d01034aa
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_10.obj
@@ -0,0 +1,2826 @@
+# SSTK version 0.8.0
+# 10
+mtllib original_10.mtl
+o mesh1/mesh1-geometry/material_2/component_0#mesh1-geometry
+v 0.284354 -0.130042 -0.264098
+v 0.284354 -0.124116 -0.212551
+v 0.284354 -0.123256 -0.212551
+v 0.284354 -0.124116 -0.212551
+v 0.284354 -0.130042 -0.264098
+v 0.284354 -0.161370 -0.228484
+v 0.308253 -0.123256 -0.212551
+v 0.284354 -0.130042 -0.264098
+v 0.284354 -0.123256 -0.212551
+v 0.284354 -0.521583 -0.212551
+v 0.284354 -0.322419 -0.212551
+v 0.284354 -0.124116 -0.212551
+v 0.284354 -0.124304 -0.204584
+v 0.308253 -0.123256 -0.212551
+v 0.284354 -0.123256 -0.212551
+v 0.284354 -0.161370 -0.228484
+v 0.284354 -0.130042 -0.264098
+v 0.284354 -0.164542 -0.253800
+v 0.284354 -0.483534 -0.228484
+v 0.284354 -0.124116 -0.212551
+v 0.284354 -0.161370 -0.228484
+v 0.284354 -0.130042 -0.264098
+v 0.308253 -0.123256 -0.212551
+v 0.308253 -0.130042 -0.264098
+v 0.284354 -0.521583 -0.212551
+v 0.284354 -0.483468 -0.196618
+v 0.284354 -0.322419 -0.212551
+v 0.284354 -0.521583 -0.212551
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+v 0.284354 -0.483534 -0.228484
+v 0.308253 -0.123256 -0.212551
+v 0.284354 -0.124304 -0.204584
+v 0.284354 -0.130042 -0.161003
+v 0.284354 -0.338352 -0.051436
+v 0.284354 -0.322419 -0.013387
+v 0.284354 -0.322419 -0.212551
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+v 0.284354 -0.314453 -0.014436
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+v 0.284354 -0.180598 -0.293256
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+v 0.284354 -0.360885 -0.196618
+v 0.284354 -0.322419 -0.212551
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+v 0.284354 -0.521583 -0.212551
+v 0.284354 -0.483534 -0.228484
+v 0.284354 -0.514796 -0.264098
+v 0.308253 -0.123256 -0.212551
+v 0.284354 -0.130042 -0.161003
+v 0.308253 -0.130042 -0.161003
+v 0.284354 -0.322419 -0.013387
+v 0.284354 -0.338352 -0.051436
+v 0.284354 -0.373966 -0.020173
+v 0.284354 -0.338352 -0.051436
+v 0.284354 -0.322419 -0.212551
+v 0.284354 -0.338352 -0.174085
+v 0.308253 -0.270872 -0.020173
+v 0.284354 -0.322419 -0.013387
+v 0.308253 -0.322419 -0.013387
+v 0.284354 -0.314453 -0.014436
+v 0.308253 -0.270872 -0.020173
+v 0.284354 -0.270872 -0.020173
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+v 0.284354 -0.149938 -0.312132
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+v 0.308253 -0.161370 -0.228484
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+v 0.308253 -0.161370 -0.228484
+v 0.308253 -0.164542 -0.253800
+v 0.284354 -0.149938 -0.312132
+v 0.308253 -0.130042 -0.264098
+v 0.308253 -0.149938 -0.312132
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+v 0.284354 -0.521583 -0.212551
+v 0.308253 -0.480296 -0.171301
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+v 0.284354 -0.480296 -0.171301
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_11.mtl b/PartNetMobility/Cart/102556/textured_objs/original_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_11.mtl
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+illum 3
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+map_Kd ../images/texture_0.jpg
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_11.obj b/PartNetMobility/Cart/102556/textured_objs/original_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b52c579ecc24654c121581637ab8975463fb8c
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_11.obj
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_12.mtl b/PartNetMobility/Cart/102556/textured_objs/original_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_12.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+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/Cart/102556/textured_objs/original_12.obj b/PartNetMobility/Cart/102556/textured_objs/original_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..236be9492091274a437fdba9a3e155d3f443e892
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_12.obj
@@ -0,0 +1,3010 @@
+# SSTK version 0.8.0
+# 12
+mtllib original_12.mtl
+o mesh1/mesh1-geometry/material_2/component_2#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_13.mtl b/PartNetMobility/Cart/102556/textured_objs/original_13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_13.obj b/PartNetMobility/Cart/102556/textured_objs/original_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58d87c823efd6bf256c0880f8af0a3ab1ff11234
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_13.obj
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_14.mtl b/PartNetMobility/Cart/102556/textured_objs/original_14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_14.obj b/PartNetMobility/Cart/102556/textured_objs/original_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa16bec0cbf9fff736127df0578a793eaae86090
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_14.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 14
+mtllib original_14.mtl
+o mesh1/mesh1-geometry/material_3/component_1#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_15.mtl b/PartNetMobility/Cart/102556/textured_objs/original_15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_15.obj b/PartNetMobility/Cart/102556/textured_objs/original_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2422a7af45d0f41fa72db132dd68d5722fa4014
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_15.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 15
+mtllib original_15.mtl
+o mesh1/mesh1-geometry/material_3/component_2#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_16.mtl b/PartNetMobility/Cart/102556/textured_objs/original_16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_16.obj b/PartNetMobility/Cart/102556/textured_objs/original_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20398fa3f123f0346619a9b8e278b044da95d2fb
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_16.obj
@@ -0,0 +1,124 @@
+# SSTK version 0.8.0
+# 16
+mtllib original_16.mtl
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_17.mtl b/PartNetMobility/Cart/102556/textured_objs/original_17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_17.obj b/PartNetMobility/Cart/102556/textured_objs/original_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a54a1b77108aabd2cbee5b52c3c60e2a9dec858
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_17.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
+# 17
+mtllib original_17.mtl
+o mesh1/mesh1-geometry/material_3/component_4#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_18.mtl b/PartNetMobility/Cart/102556/textured_objs/original_18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b156572178da34a548ffd342ce2037174cec920e
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_18.mtl
@@ -0,0 +1,15 @@
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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_18.obj b/PartNetMobility/Cart/102556/textured_objs/original_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4e73e0ef4edad6151b3b2d0a071319a7ed4a671
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_18.obj
@@ -0,0 +1,29 @@
+# SSTK version 0.8.0
+# 18
+mtllib original_18.mtl
+o mesh1/mesh1-geometry/material_4#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_19.mtl b/PartNetMobility/Cart/102556/textured_objs/original_19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..167aab14b77010c8d89f959c5ee2b05a7381db54
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_19.mtl
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+newmtl material_1_0
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+map_Kd ../images/texture_2.jpg
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_19.obj b/PartNetMobility/Cart/102556/textured_objs/original_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a01ae21727cf0e6ebd63b1c595720398965c0cf
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_19.obj
@@ -0,0 +1,223 @@
+# SSTK version 0.8.0
+# 19
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_24.obj b/PartNetMobility/Cart/102556/textured_objs/original_24.obj
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_26.mtl b/PartNetMobility/Cart/102556/textured_objs/original_26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71b4741d7c25fdb763115cd08d4e737164eec9ed
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_26.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+newmtl material_1_0
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+map_Kd ../images/texture_3.jpg
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_26.obj b/PartNetMobility/Cart/102556/textured_objs/original_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b7928f263de343334a0c0db468f9476b1c8ff195
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_26.obj
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_3.mtl b/PartNetMobility/Cart/102556/textured_objs/original_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..48c9e956ac1a3bd75e6b882bf859810f2afc768d
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_3.obj b/PartNetMobility/Cart/102556/textured_objs/original_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adb1b06c31ab88e32d9eef7e9bb49d050e4dafa1
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_3.obj
@@ -0,0 +1,3928 @@
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_4.mtl b/PartNetMobility/Cart/102556/textured_objs/original_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..48c9e956ac1a3bd75e6b882bf859810f2afc768d
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.75
+Ns 30
+Kd 1 1 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_4.obj b/PartNetMobility/Cart/102556/textured_objs/original_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b3b296282f9e67d11a8b2d4285aacccea26e419
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_4.obj
@@ -0,0 +1,644 @@
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index 0000000000000000000000000000000000000000..2113d4a3d9b1e0d9c4d5f9ba784d359f7a88e3e1
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_5.obj
@@ -0,0 +1,1989 @@
+# SSTK version 0.8.0
+# 5
+mtllib original_5.mtl
+o mesh1/mesh1-geometry/material_1/component_0#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_6.mtl b/PartNetMobility/Cart/102556/textured_objs/original_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0040a4ec353cba7c88c79af2982918e07781e4d7
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 4
+d 0.75
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+Kd 1 1 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 4
+d 0.5
+Ns 30
+Kd 1 1 0 
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+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_6.obj b/PartNetMobility/Cart/102556/textured_objs/original_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1681a0d8f7c5f44b7512f164d35b01f5079f88a7
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_6.obj
@@ -0,0 +1,1925 @@
+# SSTK version 0.8.0
+# 6
+mtllib original_6.mtl
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_7.mtl b/PartNetMobility/Cart/102556/textured_objs/original_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0040a4ec353cba7c88c79af2982918e07781e4d7
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_7.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_7.obj b/PartNetMobility/Cart/102556/textured_objs/original_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d303fd0eb195930269c183234cb2027b7a2db21
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_7.obj
@@ -0,0 +1,73 @@
+# SSTK version 0.8.0
+# 7
+mtllib original_7.mtl
+o mesh1/mesh1-geometry/material_1/component_2#mesh1-geometry
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_8.mtl b/PartNetMobility/Cart/102556/textured_objs/original_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0040a4ec353cba7c88c79af2982918e07781e4d7
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/PartNetMobility/Cart/102556/textured_objs/original_8.obj b/PartNetMobility/Cart/102556/textured_objs/original_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67b0cf7f45335297b486058b62b517d17709736a
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_8.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 8
+mtllib original_8.mtl
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_9.mtl b/PartNetMobility/Cart/102556/textured_objs/original_9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0040a4ec353cba7c88c79af2982918e07781e4d7
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_9.mtl
@@ -0,0 +1,14 @@
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diff --git a/PartNetMobility/Cart/102556/textured_objs/original_9.obj b/PartNetMobility/Cart/102556/textured_objs/original_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c45bbecb1acf3cb4a9615f338aa0522fec30ccb8
--- /dev/null
+++ b/PartNetMobility/Cart/102556/textured_objs/original_9.obj
@@ -0,0 +1,305 @@
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+# 9
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+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body_5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_31.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_11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_34.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_25.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_12.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_32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original_10.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_19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/PartNetMobility/Cart/102557/mobility_v2.json b/PartNetMobility/Cart/102557/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea0e9fe0274c492508bda6e298f984bb50525c3
--- /dev/null
+++ b/PartNetMobility/Cart/102557/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 1, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.3210813966596778, -0.17221250000000002], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 2, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.3222945, -0.21267239665967774], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 3, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.426529, 0.3779917559413376], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "wheel", "parts": [{"id": 4, "name": "wheel", "children": []}], "jointData": {"axis": {"origin": [0, -0.426529, 0.3779917559413376], "direction": [-1, 0, 0]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file