diff --git a/.gitattributes b/.gitattributes
index 6967ea73181a551c8676033072fde6a86c67b965..ac53d5b7f9751c2a5e513b67c244c4c0d93c6952 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -168,3 +168,4 @@ Metaworld/zarr_path:[[:space:]]data/metaworld_door-lock_expert.zarr/data/depth/1
 Metaworld/zarr_path:[[:space:]]/data/haojun/datasets/3d-dp/metaworld_drawer-open_expert.zarr/data/point_cloud/7.0.0 filter=lfs diff=lfs merge=lfs -text
 Metaworld/zarr_path:[[:space:]]data/metaworld_door-lock_expert.zarr/data/depth/18.0.0 filter=lfs diff=lfs merge=lfs -text
 Metaworld/zarr_path:[[:space:]]/data/haojun/datasets/3d-dp/metaworld_drawer-open_expert.zarr/data/point_cloud/4.0.0 filter=lfs diff=lfs merge=lfs -text
+Metaworld/zarr_path:[[:space:]]data/metaworld_door-lock_expert.zarr/data/depth/0.0.0 filter=lfs diff=lfs merge=lfs -text
diff --git a/Metaworld/zarr_path: data/metaworld_door-lock_expert.zarr/data/depth/0.0.0 b/Metaworld/zarr_path: data/metaworld_door-lock_expert.zarr/data/depth/0.0.0
new file mode 100644
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diff --git a/dexart-release/assets/sapien/1011/parts_render_after_merging/1.txt b/dexart-release/assets/sapien/1011/parts_render_after_merging/1.txt
new file mode 100644
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/new-3.mtl b/dexart-release/assets/sapien/1011/textured_objs/new-3.mtl
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/new-3.obj b/dexart-release/assets/sapien/1011/textured_objs/new-3.obj
new file mode 100644
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\ No newline at end of file
diff --git a/dexart-release/assets/sapien/1011/textured_objs/original-3.obj b/dexart-release/assets/sapien/1011/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80bc07f62ead67b19abf00824c5a78e28323f252
--- /dev/null
+++ b/dexart-release/assets/sapien/1011/textured_objs/original-3.obj
@@ -0,0 +1,1249 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group3/mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/original-5.mtl b/dexart-release/assets/sapien/1011/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/original-97.mtl b/dexart-release/assets/sapien/1011/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/dexart-release/assets/sapien/1011/textured_objs/original-97.mtl
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/original-97.obj b/dexart-release/assets/sapien/1011/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf6b8d0cbf0a39de76002eab8bef2a362cc8668
--- /dev/null
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diff --git a/dexart-release/assets/sapien/1011/textured_objs/original-98.mtl b/dexart-release/assets/sapien/1011/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/dexart-release/assets/sapien/1011/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+
diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_106.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6c15a4e47d7a58278d0893f2372a5007ad03d444
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_106.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1807
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_107.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..049ef759d1c4ff0b7f125105da99cb0b8aadd4b4
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_107.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1808
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_110.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_110.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..72f77c89ebb4b8e5ce102de06b54e60e0b199d0a
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_110.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1811
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_120.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..004b2ab1858661f84922e90277bc9dbbf872493d
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_120.obj
@@ -0,0 +1,36 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_120.mtl
+o Shape_IndexedFaceSet.120_Shape_IndexedFaceSet.1817
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_132.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98f0ae8f9b58eb1cafc7219c1ffb69f3bb0c085c
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_132.obj
@@ -0,0 +1,32 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_132.mtl
+o Shape_IndexedFaceSet.132_Shape_IndexedFaceSet.1829
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_135.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_135.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b5651e6a0273671ccf2b7d08c864f27f9097860
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_135.obj
@@ -0,0 +1,42 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_135.mtl
+o Shape_IndexedFaceSet.135_Shape_IndexedFaceSet.1832
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_139.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52881d63fcdcd9e47719f17975b48e8ff31aeef0
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_139.obj
@@ -0,0 +1,33 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_139.mtl
+o Shape_IndexedFaceSet.139_Shape_IndexedFaceSet.1836
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_148.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95e376b8ab4901f3423d53102a6a8784064a8395
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_148.obj
@@ -0,0 +1,36 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_148.mtl
+o Shape_IndexedFaceSet.148_Shape_IndexedFaceSet.1845
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_149.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_149.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7512e614a2c60b7585223dedf387c85dc93b623
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_149.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_150.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_150.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d2c430389efffb263e842ab97096d7fdb07aaf1b
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_150.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1851
+Ns 400.000000
+Ka 0.400000 0.400000 0.400000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_156.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85b69f349d96c3c7f6305b20b478a97f2c08531a
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_156.obj
@@ -0,0 +1,53 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_156.mtl
+o Shape_IndexedFaceSet.156_Shape_IndexedFaceSet.1853
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_161.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac051d550711fb6f5b19a90b47462eb79bde89f3
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_161.obj
@@ -0,0 +1,45 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_161.mtl
+o Shape_IndexedFaceSet.161_Shape_IndexedFaceSet.1858
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_165.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c3a6f0305acc48f4241e4fa97baa6659628cd8d
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_165.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1866
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_167.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_167.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9142c30d655b054f82de1123331ca891c844a7ea
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_167.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1868
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_17.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f24e126703671a0b362255ec004b7efdb58ad0e
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_17.obj
@@ -0,0 +1,73 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_17.mtl
+o Shape_IndexedFaceSet.017_Shape_IndexedFaceSet.1714
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_171.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_171.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1938ae099483cecb489db6369b010cac93939399
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_171.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1872
+Ns 400.000000
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+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 0.500000
+illum 2
diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_185.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e39d200123218c0807dfc855b8219723ee21d3d3
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_185.obj
@@ -0,0 +1,42 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_185.mtl
+o Shape_IndexedFaceSet.185_Shape_IndexedFaceSet.1882
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_189.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8320552a45c980334e9441bd4a1f464b71931ab2
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_189.obj
@@ -0,0 +1,58 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_189.mtl
+o Shape_IndexedFaceSet.189_Shape_IndexedFaceSet.1886
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_19.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76448d7ff3c54ce0bff8ffa8dd6b9eaa5063f731
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_19.obj
@@ -0,0 +1,41 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_19.mtl
+o Shape_IndexedFaceSet.019_Shape_IndexedFaceSet.1716
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_200.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_200.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89d0c6765f9ddd44fcd877b6540e6ca751965822
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_200.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1901
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_202.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d62380bcad9e56dd4bdca92e12dcbe8bdf3d50e6
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_202.obj
@@ -0,0 +1,23 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_202.mtl
+o Shape_IndexedFaceSet.202_Shape_IndexedFaceSet.1899
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_204.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b9919adbc5f45e7bd544eea2fdaa8b3f9a3443a
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_204.obj
@@ -0,0 +1,47 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_204.mtl
+o Shape_IndexedFaceSet.204_Shape_IndexedFaceSet.1901
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_21.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f328738b2b6777c8865eca9dfba657faa8655342
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_21.obj
@@ -0,0 +1,97 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_21.mtl
+o Shape_IndexedFaceSet.021_Shape_IndexedFaceSet.1718
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_23.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..be9dc3e97956b526e50584d3ce315d0a105b3b6c
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_23.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_24.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..825c9f47b896b2841d7db367fd1019e32cf836ce
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_24.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_41.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d021a2abf6d72cacb4926138e1c71b8dab4dfbb
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_41.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_42.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef407f877d4b1d0da063410b5a964c6dbf59d11
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_42.obj
@@ -0,0 +1,51 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_42.mtl
+o Shape_IndexedFaceSet.042_Shape_IndexedFaceSet.1739
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_5.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11dd36755fc66938e0636f99724426c35454693b
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_5.obj
@@ -0,0 +1,81 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_5.mtl
+o Shape_IndexedFaceSet.005_Shape_IndexedFaceSet.1702
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_50.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cca51b02a63e577dc84e58538590e2ae5076d306
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_50.obj
@@ -0,0 +1,23 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_50.mtl
+o Shape_IndexedFaceSet.050_Shape_IndexedFaceSet.1747
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_65.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..19631c2e01c77c93d4fedf41b7003934ed60b900
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_65.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_70.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed5eb6cbb11e792ff378f9353e8ccaae851b41a3
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_70.obj
@@ -0,0 +1,52 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_70.mtl
+o Shape_IndexedFaceSet.070_Shape_IndexedFaceSet.1767
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_71.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..30b5467baacd669bb5761f54e1a4a5de34e76ad4
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_71.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_72.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d815344b8109b72b6017a77e7685fd7571dfa42d
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_72.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_78.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d49c805ddd7621286a8ab8d0cc47baae3dcc9ccb
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_78.obj
@@ -0,0 +1,23 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_78.mtl
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_79.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e361d98c3d69ade0f45193790e787a96d862319b
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_79.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1780
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_8.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..59d25fd2cb4452906bd9a364f6bf28c838b8961e
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_8.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1709
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_80.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03181a2b6f582a8ffe3761a14b6c039a00988676
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_80.obj
@@ -0,0 +1,23 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_80.mtl
+o Shape_IndexedFaceSet.080_Shape_IndexedFaceSet.1777
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_83.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49c7166874dae3c33ca913c899e81392cbe52957
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_83.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.1784
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_84.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f057510bc371b56ed1ec65f01d5740221e3a7e8f
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_84.obj
@@ -0,0 +1,33 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_84.mtl
+o Shape_IndexedFaceSet.084_Shape_IndexedFaceSet.1781
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_93.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0815a996f4070fc7c66e077274a8dc9d54836cc4
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_93.obj
@@ -0,0 +1,38 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_93.mtl
+o Shape_IndexedFaceSet.093_Shape_IndexedFaceSet.1790
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_96.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73653535f1dc56fbb0850156d3a924c97a2ccf7a
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_96.obj
@@ -0,0 +1,42 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_96.mtl
+o Shape_IndexedFaceSet.096_Shape_IndexedFaceSet.1793
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_0_99.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a5ab11740d302d52298ce8e71e9a4eaddb4ce7
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_0_99.obj
@@ -0,0 +1,53 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_0_99.mtl
+o Shape_IndexedFaceSet.099_Shape_IndexedFaceSet.1796
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_11.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0d0d1f2cd2bec7f80f57ef09f3c846c3b1503a0
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_11.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.3511
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_12.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8140b0464b36a1de074dadd30ab5099e32e03274
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_12.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.3512
+Ns 400.000000
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_16.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1190788cf2f0bc22db91f617d7d3a34165e6ee66
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_16.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.3516
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_2.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c61377f4f2ed89d56f3c97f3833cfdd04c74c72
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_2.obj
@@ -0,0 +1,57 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_2.mtl
+o Shape_IndexedFaceSet.002_Shape_IndexedFaceSet.3498
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_22.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..708b9dadbfa70e75e8625127498134b4d4f5affa
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_22.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Shape.3522
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_33.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..14ec4e9d0b10375150a65350443006582c94b467
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_33.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b3a82f789eb75316a0cea4ad2286329f7518fc4
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b54dbf006514e6c8d4bd34e79a07cbda45eee80
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_35.obj
@@ -0,0 +1,73 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_35.mtl
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_37.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da53a206f94ae4a4661b05008b318609ab300f21
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_37.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_42.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c90c946836b168af5e6b115f0f2ac7fccdc8744
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_42.obj
@@ -0,0 +1,60 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_42.mtl
+o Shape_IndexedFaceSet.042_Shape_IndexedFaceSet.3538
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_43.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02e7d110a20331316e5569d2d3505a7558c5389a
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_43.obj
@@ -0,0 +1,64 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_43.mtl
+o Shape_IndexedFaceSet.043_Shape_IndexedFaceSet.3539
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_44.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0284fd813eb44e7e0542c7f783abd8f691e8ad72
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_44.obj
@@ -0,0 +1,34 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_44.mtl
+o Shape_IndexedFaceSet.044_Shape_IndexedFaceSet.3540
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_45.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c1487b79beeed3d28aa5a67eba1942af61d3b6c
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_45.obj
@@ -0,0 +1,49 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_45.mtl
+o Shape_IndexedFaceSet.045_Shape_IndexedFaceSet.3541
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_50.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7666f7d9a6e5a9d84190e3ef039fc8aa236565e4
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_50.obj
@@ -0,0 +1,94 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_50.mtl
+o Shape_IndexedFaceSet.050_Shape_IndexedFaceSet.3546
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_59.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c55b57f10f601792f3d2326aae8a0403819611e
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_59.obj
@@ -0,0 +1,67 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_59.mtl
+o Shape_IndexedFaceSet.059_Shape_IndexedFaceSet.3555
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_62.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c7fba7d65abd095badc545692a9f2d97c99845c
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_62.mtl
@@ -0,0 +1,12 @@
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+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_65.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93ddd399544b3d38b1fe229b6fc2729451ef7e6
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_65.obj
@@ -0,0 +1,55 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_65.mtl
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_66.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f7f01af2b79ebb466656333bdf07eef9ee8a0350
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_66.mtl
@@ -0,0 +1,12 @@
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+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47e150b46f8ee3d45ab9871fd7adac1647aa5532
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b67774566a293f7f73651d47f8c81e2d28fc6bc
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_75.obj
@@ -0,0 +1,60 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_75.mtl
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_78.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91d562719e51fd1bfb1921157c5aa1872a06fb93
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_78.obj
@@ -0,0 +1,71 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_78.mtl
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_80.mtl b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ff5b074ea6a9651e1c8481ce66070c21b54275c
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_80.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
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diff --git a/dexart-release/assets/sapien/1556/new_objs/1556_link_1_85.obj b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..232afae7b45b9285f8e3343c06e098bbb30be668
--- /dev/null
+++ b/dexart-release/assets/sapien/1556/new_objs/1556_link_1_85.obj
@@ -0,0 +1,73 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib 1556_link_1_85.mtl
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