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index 0000000000000000000000000000000000000000..b0f17ee7f081508b2a2d9c02dde2532a64b4b957
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diff --git a/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-label-10000.txt b/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4d5ce9a13048bf445a1911b9be461d09bb77853
--- /dev/null
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diff --git a/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-label-10000.ply b/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe8c4a1d9a9675ac524edf8906ec663ab5cdea
--- /dev/null
+++ b/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-label-10000.ply
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new file mode 100644
index 0000000000000000000000000000000000000000..01c3f762a810c916f4a40a0df37869b64739c82f
--- /dev/null
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diff --git a/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61b21e129dd83bc4c847858322071415c2b18fd8
--- /dev/null
+++ b/Objects/098_keyboard/01_keyboard/01/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_21"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-23">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_22"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-24">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_23"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-25">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_24"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-26">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_25"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-27">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_26" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_26"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-28">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_27" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_27"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-29">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_28" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_28"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-30">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_29" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_29"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_30">
+		<visual name="key-31">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_30" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_30"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_31">
+		<visual name="key-32">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_31" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_31"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_32">
+		<visual name="key-33">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_32" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_32"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_33">
+		<visual name="key-34">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_33" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_33"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_34">
+		<visual name="key-35">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_34" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_34"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_35">
+		<visual name="key-36">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_35"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_36">
+		<visual name="key-37">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_36"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_37">
+		<visual name="key-38">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_37"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_38">
+		<visual name="key-39">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_38"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-40">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_39" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_39"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-41">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_40" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_40"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_41">
+		<visual name="key-42">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_41" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_41"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_42">
+		<visual name="key-43">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_42" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_42"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_43">
+		<visual name="key-44">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_43" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_43"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_44">
+		<visual name="key-45">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_44" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_44"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_45">
+		<visual name="key-46">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_45" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_45"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_46">
+		<visual name="key-47">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_46" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_46"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_47">
+		<visual name="key-48">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_47" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_47"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-49">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_48" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_48"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-50">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_49" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_49"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-51">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_50" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_50"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_51">
+		<visual name="key-52">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_51" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_51"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_52">
+		<visual name="key-53">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_52" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_52"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_53">
+		<visual name="key-54">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_53" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_53"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_54">
+		<visual name="key-55">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_54" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_54"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_55">
+		<visual name="key-56">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_55" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_55"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_56">
+		<visual name="key-57">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_56" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_56"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_57">
+		<visual name="key-58">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_57" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_57"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_58">
+		<visual name="key-59">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_58" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_58"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_59">
+		<visual name="key-60">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_59" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_59"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-61">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_60" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_60"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_61">
+		<visual name="key-62">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_61" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_61"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_62">
+		<visual name="key-63">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_62" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_62"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_63">
+		<visual name="key-64">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_63" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_63"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_64">
+		<visual name="key-65">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_64" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_64"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_65">
+		<visual name="key-66">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_65" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_65"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_66">
+		<visual name="key-67">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_66" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_66"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_67">
+		<visual name="key-68">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_67" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_67"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_68">
+		<visual name="key-69">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_68" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_68"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_69">
+		<visual name="key-70">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_69" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_69"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_70">
+		<visual name="key-71">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_70" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_70"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_71">
+		<visual name="key-72">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_71" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_71"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_72">
+		<visual name="key-73">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_72" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_72"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_73">
+		<visual name="key-74">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_73" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_73"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_74">
+		<visual name="key-75">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_74" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_74"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_75">
+		<visual name="key-76">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_75" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_75"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_76">
+		<visual name="key-77">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_76" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_76"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_77">
+		<visual name="key-78">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_77" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_77"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_78">
+		<visual name="key-79">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_78" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_78"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_79">
+		<visual name="key-80">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_79" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_79"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_80">
+		<visual name="key-81">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_80" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_80"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_81">
+		<visual name="key-82">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_81"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_82">
+		<visual name="key-83">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_82" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_82"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_83">
+		<visual name="key-84">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_83" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_83"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_84">
+		<visual name="key-85">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_84" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_84"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_85">
+		<visual name="key-86">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_85" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_85"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_86">
+		<visual name="key-87">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_86" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_86"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_87">
+		<visual name="key-88">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_87" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_87"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_88">
+		<visual name="key-89">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_88" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_88"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_89">
+		<visual name="key-90">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_89" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_89"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_90">
+		<visual name="key-91">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_90" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_90"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_91">
+		<visual name="key-92">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_91" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_91"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_92">
+		<visual name="key-93">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_92" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_92"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_93">
+		<visual name="key-94">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_93" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_93"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_94">
+		<visual name="key-95">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_94" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_94"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_95">
+		<visual name="key-96">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+	<joint name="joint_95" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_95"/>
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+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_96">
+		<visual name="key-97">
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+	</link>
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+		</collision>
+	</link>
+	<joint name="joint_97" type="prismatic">
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+	<joint name="joint_98" type="prismatic">
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+	</link>
+	<joint name="joint_99" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_99"/>
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+		<limit lower="0" upper="0.02"/>
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+	<link name="link_100">
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+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_100" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_100"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_101">
+		<visual name="key-102">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_101" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_101"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_102">
+		<visual name="key-103">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_102" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_102"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_103">
+		<visual name="key-104">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_103" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_103"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>
diff --git a/Objects/098_keyboard/02_keyboard/01/mobility_v2.json b/Objects/098_keyboard/02_keyboard/01/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f39fb4d2dfa4e2618893ec44f3d29057cb4ca1d
--- /dev/null
+++ b/Objects/098_keyboard/02_keyboard/01/mobility_v2.json
@@ -0,0 +1 @@
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"key"}, {"text": "Key", "objs": ["original-74"], "id": 75, "name": "key"}, {"text": "Key", "objs": ["original-21"], "id": 76, "name": "key"}, {"text": "Key", "objs": ["original-88"], "id": 77, "name": "key"}, {"text": "Key", "objs": ["original-100"], "id": 78, "name": "key"}, {"text": "Key", "objs": ["original-101"], "id": 79, "name": "key"}, {"text": "Key", "objs": ["original-103"], "id": 80, "name": "key"}, {"text": "Key", "objs": ["original-3"], "id": 81, "name": "key"}, {"text": "Key", "objs": ["original-38"], "id": 82, "name": "key"}, {"text": "Key", "objs": ["original-55"], "id": 83, "name": "key"}, {"text": "Key", "objs": ["original-76"], "id": 84, "name": "key"}, {"text": "Key", "objs": ["original-66"], "id": 85, "name": "key"}, {"text": "Key", "objs": ["original-60"], "id": 86, "name": "key"}, {"text": "Key", "objs": ["original-78"], "id": 87, "name": "key"}, {"text": "Key", "objs": ["original-92"], "id": 88, "name": "key"}, {"text": "Key", "objs": ["original-32"], "id": 89, "name": "key"}, {"text": "Key", "objs": ["original-93"], "id": 90, "name": "key"}, {"text": "Key", "objs": ["original-44"], "id": 91, "name": "key"}, {"text": "Key", "objs": ["original-89"], "id": 92, "name": "key"}, {"text": "Key", "objs": ["original-15"], "id": 93, "name": "key"}, {"text": "Key", "objs": ["original-96"], "id": 94, "name": "key"}, {"text": "Key", "objs": ["original-16"], "id": 95, "name": "key"}, {"text": "Key", "objs": ["original-46"], "id": 96, "name": "key"}, {"text": "Key", "objs": ["original-72"], "id": 97, "name": "key"}, {"text": "Key", "objs": ["original-61"], "id": 98, "name": "key"}, {"text": "Key", "objs": ["original-75"], "id": 99, "name": "key"}, {"text": "Key", "objs": ["original-59"], "id": 100, "name": "key"}, {"text": "Key", "objs": ["original-13"], "id": 101, "name": "key"}, {"text": "Key", "objs": ["original-10"], "id": 102, "name": "key"}, {"text": "Key", "objs": ["original-14"], "id": 103, "name": "key"}, {"text": "Key", "objs": ["original-50"], "id": 104, "name": "key"}], "id": 0, "name": "keyboard"}]
\ No newline at end of file
diff --git a/Objects/098_keyboard/02_keyboard/01/result_after_merging.json b/Objects/098_keyboard/02_keyboard/01/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..d628b24ef903e0cf509129d103d3d8fb40e50fc3
--- /dev/null
+++ b/Objects/098_keyboard/02_keyboard/01/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "keyboard", "id": 0, "ori_id": 0, "name": "keyboard", "children": [{"text": "frame", "id": 1, "ori_id": 1, "name": "frame", "objs": ["original-104"]}, {"text": "key", "id": 2, "ori_id": 2, "name": "key", "objs": ["original-12"]}, {"text": "key", "id": 3, "ori_id": 3, "name": "key", "objs": ["original-79"]}, {"text": "key", "id": 4, "ori_id": 4, "name": "key", "objs": ["original-29"]}, {"text": "key", "id": 5, "ori_id": 5, "name": "key", "objs": ["original-39"]}, {"text": "key", "id": 6, "ori_id": 6, "name": "key", "objs": ["original-94"]}, {"text": "key", "id": 7, "ori_id": 7, "name": "key", "objs": ["original-80"]}, {"text": "key", "id": 8, "ori_id": 8, "name": "key", "objs": ["original-6"]}, {"text": "key", "id": 9, "ori_id": 9, "name": "key", "objs": ["original-56"]}, {"text": "key", "id": 10, "ori_id": 10, "name": "key", "objs": ["original-43"]}, {"text": "key", "id": 11, "ori_id": 11, "name": "key", "objs": ["original-68"]}, {"text": "key", "id": 12, "ori_id": 12, "name": "key", "objs": ["original-84"]}, {"text": "key", "id": 13, "ori_id": 13, "name": "key", "objs": ["original-95"]}, {"text": "key", "id": 14, "ori_id": 14, "name": "key", "objs": ["original-69"]}, {"text": "key", "id": 15, "ori_id": 15, "name": "key", "objs": ["original-71"]}, {"text": "key", "id": 16, "ori_id": 16, "name": "key", "objs": ["original-49"]}, {"text": "key", "id": 17, "ori_id": 17, "name": "key", "objs": ["original-48"]}, {"text": "key", "id": 18, "ori_id": 18, "name": "key", "objs": ["original-99"]}, {"text": "key", "id": 19, "ori_id": 19, "name": "key", "objs": ["original-34"]}, {"text": "key", "id": 20, "ori_id": 20, "name": "key", "objs": ["original-77"]}, {"text": "key", "id": 21, "ori_id": 21, "name": "key", "objs": ["original-64"]}, {"text": "key", "id": 22, "ori_id": 22, "name": "key", "objs": ["original-85"]}, {"text": "key", "id": 23, "ori_id": 23, "name": "key", "objs": ["original-36"]}, {"text": "key", "id": 24, "ori_id": 24, "name": "key", "objs": ["original-97"]}, {"text": "key", "id": 25, "ori_id": 25, "name": "key", "objs": ["original-24"]}, {"text": "key", "id": 26, "ori_id": 26, "name": "key", "objs": ["original-42"]}, {"text": "key", "id": 27, "ori_id": 27, "name": "key", "objs": ["original-23"]}, {"text": "key", "id": 28, "ori_id": 28, "name": "key", "objs": ["original-20"]}, {"text": "key", "id": 29, "ori_id": 29, "name": "key", "objs": ["original-8"]}, {"text": "key", "id": 30, "ori_id": 30, "name": "key", "objs": ["original-7"]}, {"text": "key", "id": 31, "ori_id": 31, "name": "key", "objs": ["original-9"]}, {"text": "key", "id": 32, "ori_id": 32, "name": "key", "objs": ["original-25"]}, {"text": "key", "id": 33, "ori_id": 33, "name": "key", "objs": ["original-27"]}, {"text": "key", "id": 34, "ori_id": 34, "name": "key", "objs": ["original-45"]}, {"text": "key", "id": 35, "ori_id": 35, "name": "key", "objs": ["original-83"]}, {"text": "key", "id": 36, "ori_id": 36, "name": "key", "objs": ["original-81"]}, {"text": "key", "id": 37, "ori_id": 37, "name": "key", "objs": ["original-41"]}, {"text": "key", "id": 38, "ori_id": 38, "name": "key", "objs": ["original-91"]}, {"text": "key", "id": 39, "ori_id": 39, "name": "key", "objs": ["original-28"]}, {"text": "key", "id": 40, "ori_id": 40, "name": "key", "objs": ["original-33"]}, {"text": "key", "id": 41, "ori_id": 41, "name": "key", "objs": ["original-98"]}, {"text": "key", "id": 42, "ori_id": 42, "name": "key", "objs": ["original-73"]}, {"text": "key", "id": 43, "ori_id": 43, "name": "key", "objs": ["original-65"]}, {"text": "key", "id": 44, "ori_id": 44, "name": "key", "objs": ["original-5"]}, {"text": "key", "id": 45, "ori_id": 45, "name": "key", "objs": ["original-86"]}, {"text": "key", "id": 46, "ori_id": 46, "name": "key", "objs": ["original-63"]}, {"text": "key", "id": 47, "ori_id": 47, "name": "key", "objs": ["original-19"]}, {"text": "key", "id": 48, "ori_id": 48, "name": "key", "objs": ["original-87"]}, {"text": "key", "id": 49, "ori_id": 49, "name": "key", "objs": ["original-26"]}, {"text": "key", "id": 50, "ori_id": 50, "name": "key", "objs": ["original-51"]}, {"text": "key", "id": 51, "ori_id": 51, "name": "key", "objs": ["original-90"]}, {"text": "key", "id": 52, "ori_id": 52, "name": "key", "objs": ["original-58"]}, {"text": "key", "id": 53, "ori_id": 53, "name": "key", "objs": ["original-54"]}, {"text": "key", "id": 54, "ori_id": 54, "name": "key", "objs": ["original-30"]}, {"text": "key", "id": 55, "ori_id": 55, "name": "key", "objs": ["original-35"]}, {"text": "key", "id": 56, "ori_id": 56, "name": "key", "objs": ["original-37"]}, {"text": "key", "id": 57, "ori_id": 57, "name": "key", "objs": ["original-57"]}, {"text": "key", "id": 58, "ori_id": 58, "name": "key", "objs": ["original-2"]}, {"text": "key", "id": 59, "ori_id": 59, "name": "key", "objs": ["original-52"]}, {"text": "key", "id": 60, "ori_id": 60, "name": "key", "objs": ["original-17"]}, {"text": "key", "id": 61, "ori_id": 61, "name": "key", "objs": ["original-53"]}, {"text": "key", "id": 62, "ori_id": 62, "name": "key", "objs": ["original-62"]}, {"text": "key", "id": 63, "ori_id": 63, "name": "key", "objs": ["original-22"]}, {"text": "key", "id": 64, "ori_id": 64, "name": "key", "objs": ["original-18"]}, {"text": "key", "id": 65, "ori_id": 65, "name": "key", "objs": ["original-40"]}, {"text": "key", "id": 66, "ori_id": 66, "name": "key", "objs": ["original-102"]}, {"text": "key", "id": 67, "ori_id": 67, "name": "key", "objs": ["original-11"]}, {"text": "key", "id": 68, "ori_id": 68, "name": "key", "objs": ["original-67"]}, {"text": "key", "id": 69, "ori_id": 69, "name": "key", "objs": ["original-31"]}, {"text": "key", "id": 70, "ori_id": 70, "name": "key", "objs": ["original-4"]}, {"text": "key", "id": 71, "ori_id": 71, "name": "key", "objs": ["original-47"]}, {"text": "key", "id": 72, "ori_id": 72, "name": "key", "objs": ["original-82"]}, {"text": "key", "id": 73, "ori_id": 73, "name": "key", "objs": ["original-70"]}, {"text": "key", "id": 74, "ori_id": 74, "name": "key", "objs": ["original-1"]}, {"text": "key", "id": 75, "ori_id": 75, "name": "key", "objs": ["original-74"]}, {"text": "key", "id": 76, "ori_id": 76, "name": "key", "objs": ["original-21"]}, {"text": "key", "id": 77, "ori_id": 77, "name": "key", "objs": ["original-88"]}, {"text": "key", "id": 78, "ori_id": 78, "name": "key", "objs": ["original-100"]}, {"text": "key", "id": 79, "ori_id": 79, "name": "key", "objs": ["original-101"]}, {"text": "key", "id": 80, "ori_id": 80, "name": "key", "objs": ["original-103"]}, {"text": "key", "id": 81, "ori_id": 81, "name": "key", "objs": ["original-3"]}, {"text": "key", "id": 82, "ori_id": 82, "name": "key", "objs": ["original-38"]}, {"text": "key", "id": 83, "ori_id": 83, "name": "key", "objs": ["original-55"]}, {"text": "key", "id": 84, "ori_id": 84, "name": "key", "objs": ["original-76"]}, {"text": "key", "id": 85, "ori_id": 85, "name": "key", "objs": ["original-66"]}, {"text": "key", "id": 86, "ori_id": 86, "name": "key", "objs": ["original-60"]}, {"text": "key", "id": 87, "ori_id": 87, "name": "key", "objs": ["original-78"]}, {"text": "key", "id": 88, "ori_id": 88, "name": "key", "objs": ["original-92"]}, {"text": "key", "id": 89, "ori_id": 89, "name": "key", "objs": ["original-32"]}, {"text": "key", "id": 90, "ori_id": 90, "name": "key", "objs": ["original-93"]}, {"text": "key", "id": 91, "ori_id": 91, "name": "key", "objs": ["original-44"]}, {"text": "key", "id": 92, "ori_id": 92, "name": "key", "objs": ["original-89"]}, {"text": "key", "id": 93, "ori_id": 93, "name": "key", "objs": ["original-15"]}, {"text": "key", "id": 94, "ori_id": 94, "name": "key", "objs": ["original-96"]}, {"text": "key", "id": 95, "ori_id": 95, "name": "key", "objs": ["original-16"]}, {"text": "key", "id": 96, "ori_id": 96, "name": "key", "objs": ["original-46"]}, {"text": "key", "id": 97, "ori_id": 97, "name": "key", "objs": ["original-72"]}, {"text": "key", "id": 98, "ori_id": 98, "name": "key", "objs": ["original-61"]}, {"text": "key", "id": 99, "ori_id": 99, "name": "key", "objs": ["original-75"]}, {"text": "key", "id": 100, "ori_id": 100, "name": "key", "objs": ["original-59"]}, {"text": "key", "id": 101, "ori_id": 101, "name": "key", "objs": ["original-13"]}, {"text": "key", "id": 102, "ori_id": 102, "name": "key", "objs": ["original-10"]}, {"text": "key", "id": 103, "ori_id": 103, "name": "key", "objs": ["original-14"]}, {"text": "key", "id": 104, "ori_id": 104, "name": "key", "objs": ["original-50"]}], "objs": ["original-104", "original-12", "original-79", "original-29", "original-39", "original-94", "original-80", "original-6", "original-56", "original-43", "original-68", "original-84", "original-95", "original-69", "original-71", "original-49", "original-48", "original-99", "original-34", "original-77", "original-64", "original-85", "original-36", "original-97", "original-24", "original-42", "original-23", "original-20", "original-8", "original-7", "original-9", "original-25", "original-27", "original-45", "original-83", "original-81", "original-41", "original-91", "original-28", "original-33", "original-98", "original-73", "original-65", "original-5", "original-86", "original-63", "original-19", "original-87", "original-26", "original-51", "original-90", "original-58", "original-54", "original-30", "original-35", "original-37", "original-57", "original-2", "original-52", "original-17", "original-53", "original-62", "original-22", "original-18", "original-40", "original-102", "original-11", "original-67", "original-31", "original-4", "original-47", "original-82", "original-70", "original-1", "original-74", "original-21", "original-88", "original-100", "original-101", "original-103", "original-3", "original-38", "original-55", "original-76", "original-66", "original-60", "original-78", "original-92", "original-32", "original-93", "original-44", "original-89", "original-15", "original-96", "original-16", "original-46", "original-72", "original-61", "original-75", "original-59", "original-13", "original-10", "original-14", "original-50"]}]
\ No newline at end of file
diff --git a/Objects/098_keyboard/02_keyboard/01/semantics.txt b/Objects/098_keyboard/02_keyboard/01/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbb32dd44d2dfa2804ce1249ed13d71cdb8fe4ac
--- /dev/null
+++ b/Objects/098_keyboard/02_keyboard/01/semantics.txt
@@ -0,0 +1,104 @@
+link_0 free keyboard_base
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
+link_15 slider key
+link_16 slider key
+link_17 slider key
+link_18 slider key
+link_19 slider key
+link_20 slider key
+link_21 slider key
+link_22 slider key
+link_23 slider key
+link_24 slider key
+link_25 slider key
+link_26 slider key
+link_27 slider key
+link_28 slider key
+link_29 slider key
+link_30 slider key
+link_31 slider key
+link_32 slider key
+link_33 slider key
+link_34 slider key
+link_35 slider key
+link_36 slider key
+link_37 slider key
+link_38 slider key
+link_39 slider key
+link_40 slider key
+link_41 slider key
+link_42 slider key
+link_43 slider key
+link_44 slider key
+link_45 slider key
+link_46 slider key
+link_47 slider key
+link_48 slider key
+link_49 slider key
+link_50 slider key
+link_51 slider key
+link_52 slider key
+link_53 slider key
+link_54 slider key
+link_55 slider key
+link_56 slider key
+link_57 slider key
+link_58 slider key
+link_59 slider key
+link_60 slider key
+link_61 slider key
+link_62 slider key
+link_63 slider key
+link_64 slider key
+link_65 slider key
+link_66 slider key
+link_67 slider key
+link_68 slider key
+link_69 slider key
+link_70 slider key
+link_71 slider key
+link_72 slider key
+link_73 slider key
+link_74 slider key
+link_75 slider key
+link_76 slider key
+link_77 slider key
+link_78 slider key
+link_79 slider key
+link_80 slider key
+link_81 slider key
+link_82 slider key
+link_83 slider key
+link_84 slider key
+link_85 slider key
+link_86 slider key
+link_87 slider key
+link_88 slider key
+link_89 slider key
+link_90 slider key
+link_91 slider key
+link_92 slider key
+link_93 slider key
+link_94 slider key
+link_95 slider key
+link_96 slider key
+link_97 slider key
+link_98 slider key
+link_99 slider key
+link_100 slider key
+link_101 slider key
+link_102 slider key
+link_103 slider key
diff --git a/Objects/098_keyboard/02_keyboard/01/tree_hier.html b/Objects/098_keyboard/02_keyboard/01/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..19e5a0c7117d31ae436240d3b8a0569d0f10cf91
--- /dev/null
+++ b/Objects/098_keyboard/02_keyboard/01/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame Frame</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key Key</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key Key</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key Key</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key Key</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key Key</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key Key</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key Key</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key Key</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key Key</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key Key</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key Key</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key Key</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key Key</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key Key</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key Key</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key Key</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key Key</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key Key</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key Key</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key Key</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key Key</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key Key</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key Key</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key Key</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key Key</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key Key</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key Key</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key Key</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key Key</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key Key</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key Key</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key Key</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key Key</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key Key</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key Key</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key Key</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key Key</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key Key</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key Key</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key Key</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key Key</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key Key</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key Key</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key Key</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key Key</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key Key</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key Key</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key Key</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key Key</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key Key</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key Key</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key Key</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key Key</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key Key</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key Key</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key Key</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key Key</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key Key</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key Key</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key Key</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key Key</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key Key</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key Key</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key Key</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key Key</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key Key</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key Key</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key Key</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key Key</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key Key</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key Key</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key Key</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key Key</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key Key</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key Key</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key Key</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key Key</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key Key</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key Key</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key Key</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key Key</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key Key</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key Key</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key Key</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key Key</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key Key</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key Key</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key Key</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key Key</p><a href="parts_render/90.png"><img src="parts_render/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key Key</p><a href="parts_render/91.png"><img src="parts_render/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key Key</p><a href="parts_render/92.png"><img src="parts_render/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key Key</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key Key</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key Key</p><a href="parts_render/95.png"><img src="parts_render/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key Key</p><a href="parts_render/96.png"><img src="parts_render/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key Key</p><a href="parts_render/97.png"><img src="parts_render/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key Key</p><a href="parts_render/98.png"><img src="parts_render/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key Key</p><a href="parts_render/99.png"><img src="parts_render/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key Key</p><a href="parts_render/100.png"><img src="parts_render/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key Key</p><a href="parts_render/101.png"><img src="parts_render/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key Key</p><a href="parts_render/102.png"><img src="parts_render/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key Key</p><a href="parts_render/103.png"><img src="parts_render/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key Key</p><a href="parts_render/104.png"><img src="parts_render/104.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/Objects/098_keyboard/02_keyboard/01/tree_hier_after_merging.html b/Objects/098_keyboard/02_keyboard/01/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e3abf49d4b618a7f5197a9a0f558b74193448c97
--- /dev/null
+++ b/Objects/098_keyboard/02_keyboard/01/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame frame</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key key</p><a href="parts_render_after_merging/79.png"><img src="parts_render_after_merging/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key key</p><a href="parts_render_after_merging/80.png"><img src="parts_render_after_merging/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key key</p><a href="parts_render_after_merging/81.png"><img src="parts_render_after_merging/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key key</p><a href="parts_render_after_merging/82.png"><img src="parts_render_after_merging/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key key</p><a href="parts_render_after_merging/83.png"><img src="parts_render_after_merging/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key key</p><a href="parts_render_after_merging/84.png"><img src="parts_render_after_merging/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key key</p><a href="parts_render_after_merging/85.png"><img src="parts_render_after_merging/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key key</p><a href="parts_render_after_merging/86.png"><img src="parts_render_after_merging/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key key</p><a href="parts_render_after_merging/87.png"><img src="parts_render_after_merging/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key key</p><a href="parts_render_after_merging/88.png"><img src="parts_render_after_merging/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key key</p><a href="parts_render_after_merging/89.png"><img src="parts_render_after_merging/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key key</p><a href="parts_render_after_merging/90.png"><img src="parts_render_after_merging/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key key</p><a href="parts_render_after_merging/91.png"><img src="parts_render_after_merging/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key key</p><a href="parts_render_after_merging/92.png"><img src="parts_render_after_merging/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key key</p><a href="parts_render_after_merging/93.png"><img src="parts_render_after_merging/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key key</p><a href="parts_render_after_merging/94.png"><img src="parts_render_after_merging/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key key</p><a href="parts_render_after_merging/95.png"><img src="parts_render_after_merging/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key key</p><a href="parts_render_after_merging/96.png"><img src="parts_render_after_merging/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key key</p><a href="parts_render_after_merging/97.png"><img src="parts_render_after_merging/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key key</p><a href="parts_render_after_merging/98.png"><img src="parts_render_after_merging/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key key</p><a href="parts_render_after_merging/99.png"><img src="parts_render_after_merging/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key key</p><a href="parts_render_after_merging/100.png"><img src="parts_render_after_merging/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key key</p><a href="parts_render_after_merging/101.png"><img src="parts_render_after_merging/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key key</p><a href="parts_render_after_merging/102.png"><img src="parts_render_after_merging/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key key</p><a href="parts_render_after_merging/103.png"><img src="parts_render_after_merging/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key key</p><a href="parts_render_after_merging/104.png"><img src="parts_render_after_merging/104.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/Objects/098_keyboard/02_keyboard/01/usd_decomposition_linux_rebuilt_fixed/.asset_hash b/Objects/098_keyboard/02_keyboard/01/usd_decomposition_linux_rebuilt_fixed/.asset_hash
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\ No newline at end of file
diff --git a/Objects/098_keyboard/02_keyboard/01/usd_decomposition_linux_rebuilt_fixed/config.yaml b/Objects/098_keyboard/02_keyboard/01/usd_decomposition_linux_rebuilt_fixed/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..66c0c6fc17e73a672f5306b1a719d390789f8225
--- /dev/null
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@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/jiangchenyu/temp/asset/Keyboard/usd_decomposition_linux_rebuilt_fixed/.isaaclab_urdf_sanitize_1762246/Keyboard/mobility_sanitized.urdf
+usd_dir: /home/ubuntu/jiangchenyu/temp/asset/Keyboard/usd_decomposition_linux_rebuilt_fixed
+usd_file_name: mobility.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: true
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_decomposition
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-07-11 at 22:42:09.
+##
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