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diff --git a/data/PartNet-Mobility/Dishwasher/12614/point_sample/ply-10000.ply b/data/PartNet-Mobility/Dishwasher/12614/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..f237e35f5e2640e8df4363fb3e898fcb7f9b3735
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/point_sample/pts-10000.txt b/data/PartNet-Mobility/Dishwasher/12614/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a02582d086f9320c137ac89634edc466b673d99a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ebfb0891976d52ec28ac766b7e907a96f798470
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..78b111d3286b1c47047bd9efb81e63902b3fbe6f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..630bc49170780dd7c799d4cfca49dfe5b4865d2b
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/result.json b/data/PartNet-Mobility/Dishwasher/12614/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..071ecff8cedbf54e766b58c3e18fd7ca5ac6dd24
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["new-1", "new-0", "new-3", "new-2"], "id": 10, "name": "frame"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-5", "original-2", "original-3", "original-8", "original-9"], "id": 12, "name": "door_frame"}, {"text": "Handle", "objs": ["original-6"], "id": 13, "name": "handle"}], "id": 11, "name": "door"}], "id": 9, "name": "body"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12614/result_after_merging.json b/data/PartNet-Mobility/Dishwasher/12614/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8540270d2373ef6132e320adb4937062badc11
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/result_after_merging.json
@@ -0,0 +1 @@
+[{"ori_id": 0, "children": [{"ori_id": 9, "children": [{"ori_id": 10, "name": "frame", "id": 2, "objs": ["new-1", "new-0", "new-3", "new-2"], "text": "frame"}, {"ori_id": 11, "children": [{"ori_id": 12, "name": "door_frame", "id": 4, "objs": ["original-5", "original-2", "original-3", "original-8", "original-9"], "text": "door_frame"}, {"ori_id": 13, "name": "handle", "id": 5, "objs": ["original-6"], "text": "handle"}], "id": 3, "text": "door", "objs": ["original-5", "original-2", "original-3", "original-8", "original-9", "original-6"], "name": "door"}], "id": 1, "text": "body", "objs": ["new-1", "new-0", "new-3", "new-2", "original-5", "original-2", "original-3", "original-8", "original-9", "original-6"], "name": "body"}], "id": 0, "text": "dishwasher", "objs": ["new-1", "new-0", "new-3", "new-2", "original-5", "original-2", "original-3", "original-8", "original-9", "original-6"], "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12614/semantics.txt b/data/PartNet-Mobility/Dishwasher/12614/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..49c9f3bdc2c62f1f389e6c58518b76bab8e85adb
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/semantics.txt
@@ -0,0 +1,2 @@
+link_0 heavy dishwasher_body
+link_1 hinge rotation_door
diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-0.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..672b8492cc0af374fe505590a29b78ed0cd78e2b
--- /dev/null
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@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-0.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e37f54a7b4752777323f005f72485735322c2ee
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-1.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-1.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-1.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cbc92378e5b6b2d4ac4c816199e70cba91d86da
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-1.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-2.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e89f1fc65a3d4cc1512fe770ed247bd8edde0f5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-2.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8aab1a37a8b6ce4582fe608f0adecfaefb51787
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-2.obj
@@ -0,0 +1,17 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-3.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-3.mtl
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-3.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..711632659c44d29a8af1a7650a31fe47d291286e
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/new-3.obj
@@ -0,0 +1,17 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc3d1a6dfadfc8dc041ffea24905fa85e1bf58ec
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-2.obj
@@ -0,0 +1,64 @@
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+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f316657e9c54e617e1e2021e8ddb25087f68e9f4
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e15a1dd26b58d49d483b30acbf29af2982dc673
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-3.obj
@@ -0,0 +1,43 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-5.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-5.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-5.obj
new file mode 100644
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--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-8.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b86c12f835033d99d982242dc4ea55e593b5a7e6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-9.obj b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f864da37daeab483e9967ed546fde02f9daa24ff
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12614/tree_hier.html b/data/PartNet-Mobility/Dishwasher/12614/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..4654bce267dba144a1101c0b56098f040f88759b
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/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 dishwasher Dish Washer</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>9 body Body</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td></tr><tr><td><p>10 frame Frame</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 door Door</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>12 door_frame Door Frame</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 handle Handle</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12614/tree_hier_after_merging.html b/data/PartNet-Mobility/Dishwasher/12614/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..0d190bf78d12fd8393cae5631d576ec85e1f5e29
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12614/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 dishwasher dishwasher</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 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame frame</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 door door</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 door_frame door_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 handle handle</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/bounding_box.json b/data/PartNet-Mobility/Dishwasher/12617/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46e8d0d21fb7200cfc584c669548876966a4e65
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.520244, -0.749766, -0.503562], "max": [0.492465, 0.723287, 0.528592]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/meta.json b/data/PartNet-Mobility/Dishwasher/12617/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa4c40425f0272ca7111b0cd87e75180f99b9bb
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/meta.json
@@ -0,0 +1 @@
+{"model_id": "d1d3c9bd-a8e7-4ddd-a2ae-781a7c10ff8b", "anno_id": "12617", "user_id": "chuangda021", "time_in_sec": "202", "version": "2", "model_cat": "Dishwasher"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/mobility.urdf b/data/PartNet-Mobility/Dishwasher/12617/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ab57944d55ecce79b0ec3e7f5c25453d56bd4a19
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/mobility.urdf
@@ -0,0 +1,80 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d1d3c9bd-a8e7-4ddd-a2ae-781a7c10ff8b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-12">
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-12">
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="handle-13">
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.49226899999999985 0.4763087002607047 -0.3932403492732498"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.49226899999999985 -0.4763087002607047 0.3932403492732498"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="1.5707963267948966"/>
+	</joint>
+	<link name="link_1">
+		<visual name="surface-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-0.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
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+	</link>
+	<joint name="joint_1" type="fixed">
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+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/point_sample/ply-10000.ply b/data/PartNet-Mobility/Dishwasher/12617/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..6ff35b6c510a0413418ae97aaaa0b7e5dff69aed
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/point_sample/pts-10000.txt b/data/PartNet-Mobility/Dishwasher/12617/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07dea4b526d3724b09d742245ea8866aa8ab9472
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b4e382e2df7690e116654bc581967123803c41c
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..25aad5175646ee48a2229e0e3fecb6351603b1fe
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fa1ac4e37f7715aefbac49d3559238df396bb5fd
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/result.json b/data/PartNet-Mobility/Dishwasher/12617/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db05d350b5233cbbeb8b10113571dadadd261fe
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["new-2"], "id": 10, "name": "frame"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-4", "new-1"], "id": 12, "name": "door_frame"}, {"text": "Handle", "objs": ["original-1"], "id": 13, "name": "handle"}], "id": 11, "name": "door"}], "id": 1, "name": "body"}, {"text": "Base", "children": [{"text": "Surface Base", "children": [{"text": "Surface", "objs": ["new-0"], "id": 4, "name": "surface"}], "id": 3, "name": "surface_base"}], "id": 2, "name": "base"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/result_after_merging.json b/data/PartNet-Mobility/Dishwasher/12617/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b7f88ee545c8aba2b5d2de745616509612347ef
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/result_after_merging.json
@@ -0,0 +1 @@
+[{"text": "dishwasher", "id": 0, "children": [{"text": "body", "id": 1, "children": [{"name": "frame", "text": "frame", "id": 2, "ori_id": 10, "objs": ["new-2"]}, {"text": "door", "id": 3, "children": [{"name": "door_frame", "text": "door_frame", "id": 4, "ori_id": 12, "objs": ["original-4", "new-1"]}, {"name": "handle", "text": "handle", "id": 5, "ori_id": 13, "objs": ["original-1"]}], "name": "door", "ori_id": 11, "objs": ["original-4", "new-1", "original-1"]}], "name": "body", "ori_id": 1, "objs": ["new-2", "original-4", "new-1", "original-1"]}, {"text": "base", "id": 6, "children": [{"text": "surface_base", "id": 7, "children": [{"name": "surface", "text": "surface", "id": 8, "ori_id": 4, "objs": ["new-0"]}], "name": "surface_base", "ori_id": 3, "objs": ["new-0"]}], "name": "base", "ori_id": 2, "objs": ["new-0"]}], "name": "dishwasher", "ori_id": 0, "objs": ["new-2", "original-4", "new-1", "original-1", "new-0"]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/semantics.txt b/data/PartNet-Mobility/Dishwasher/12617/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5246c243bce8e6eea957b8419ca58c0638ad6aed
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_door
+link_1 heavy dishwasher_body
diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.mtl b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.obj b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61be861724904ddd9e610d87d409dd93f23df18a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-0.obj
@@ -0,0 +1,21 @@
+mtllib new-0.mtl
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+v 0.492269 -0.749766 -0.503562
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+f 7//2 5//2 6//2
+f 8//3 9//3 10//3
+f 9//3 8//3 11//3
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.mtl b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.obj b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86859df518d2d1dbe811da8e5a398f23fe87e0da
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-1.obj
@@ -0,0 +1,60 @@
+mtllib new-1.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.mtl b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.mtl
@@ -0,0 +1,8 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.obj b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efca5a0fbd1eb8f8c99106bcdb2110a3ca00c72e
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/new-2.obj
@@ -0,0 +1,32 @@
+mtllib new-2.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.obj b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5312485411d025be8ba776c6c91fbb1521488b26
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-1.obj
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+# 1
+mtllib original-1.mtl
+o #ID29
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-4.obj b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476106d82d10633369b71d138074710e868a0005
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/textured_objs/original-4.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 4
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+o #ID17
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diff --git a/data/PartNet-Mobility/Dishwasher/12617/tree_hier.html b/data/PartNet-Mobility/Dishwasher/12617/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..a096af7ac4142493a20452dac9fdb2d220f57470
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/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 dishwasher Dish Washer</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 body Body</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>2 base Base</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td></tr><tr><td><p>10 frame Frame</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 door Door</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>3 surface_base Surface Base</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>12 door_frame Door Frame</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 handle Handle</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 surface Surface</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12617/tree_hier_after_merging.html b/data/PartNet-Mobility/Dishwasher/12617/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..dea7c798308dfbf677d2c5944adc11f6bab4dcd8
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12617/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 dishwasher dishwasher</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 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>6 base base</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame frame</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 door door</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>7 surface_base surface_base</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 door_frame door_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 handle handle</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>8 surface surface</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/bounding_box.json b/data/PartNet-Mobility/Dishwasher/12621/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.487671, -0.709438, -0.53242], "max": [0.534663, 0.772947, 0.48821]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/meta.json b/data/PartNet-Mobility/Dishwasher/12621/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..27226fafebf72ea2ca829d0687a4e0b3d646fae4
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/meta.json
@@ -0,0 +1 @@
+{"model_id": "d95f6ea8-cda0-4d59-aa49-11309e3f0ce3", "anno_id": "12621", "user_id": "chuangda021", "time_in_sec": "455", "version": "2", "model_cat": "Dishwasher"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/mobility.urdf b/data/PartNet-Mobility/Dishwasher/12621/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..531c0401ea35af377d82b73d73dc1b04b7cea4b8
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/mobility.urdf
@@ -0,0 +1,200 @@
+<?xml version="1.0" ?>
+<robot name="partnet_d95f6ea8-cda0-4d59-aa49-11309e3f0ce3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-8">
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5346630000000001 0.5370628002460592 -0.40417018345276656"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
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+	<joint name="joint_0" type="revolute">
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+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
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+			</geometry>
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+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/point_sample/pts-10000.txt b/data/PartNet-Mobility/Dishwasher/12621/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27e5d3babc3ce3f3d4ed1c9ce07af25a46dd025e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..262d5955837ee0b08aceb68836fb6f56b5d6739f
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..0c1f9282b93df5da014ed30519ddfc2ae29ac65e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4e6e24680fd249f8115aceeb98d4f88163986d16
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce230841055d4f9b14e3a5e2902af268ba76f95d
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/result.json b/data/PartNet-Mobility/Dishwasher/12621/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a723fd0b979bb0a9183e361f01251d5d6e2db758
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["original-4", "new-1"], "id": 6, "name": "frame"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-13", "original-6", "original-12", "original-16", "original-15", "original-14", "original-10", "original-11", "original-9", "original-7", "original-1", "original-8"], "id": 8, "name": "door_frame"}], "id": 7, "name": "door"}], "id": 1, "name": "body"}, {"text": "Base", "children": [{"text": "Surface Base", "children": [{"text": "Surface", "objs": ["new-0"], "id": 5, "name": "surface"}], "id": 4, "name": "surface_base"}], "id": 2, "name": "base"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/result_after_merging.json b/data/PartNet-Mobility/Dishwasher/12621/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..895d211db364ce2422956db9efff5524ee957e61
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"name": "frame", "ori_id": 6, "text": "frame", "objs": ["original-4", "new-1"], "id": 2}, {"children": [{"name": "door_frame", "ori_id": 8, "text": "door_frame", "objs": ["original-13", "original-6", "original-12", "original-16", "original-15", "original-14", "original-10", "original-11", "original-9", "original-7", "original-1", "original-8"], "id": 4}], "id": 3, "objs": ["original-13", "original-6", "original-12", "original-16", "original-15", "original-14", "original-10", "original-11", "original-9", "original-7", "original-1", "original-8"], "ori_id": 7, "name": "door", "text": "door"}], "id": 1, "objs": ["original-4", "new-1", "original-13", "original-6", "original-12", "original-16", "original-15", "original-14", "original-10", "original-11", "original-9", "original-7", "original-1", "original-8"], "ori_id": 1, "name": "body", "text": "body"}, {"children": [{"children": [{"name": "surface", "ori_id": 5, "text": "surface", "objs": ["new-0"], "id": 7}], "id": 6, "objs": ["new-0"], "ori_id": 4, "name": "surface_base", "text": "surface_base"}], "id": 5, "objs": ["new-0"], "ori_id": 2, "name": "base", "text": "base"}], "id": 0, "objs": ["original-4", "new-1", "original-13", "original-6", "original-12", "original-16", "original-15", "original-14", "original-10", "original-11", "original-9", "original-7", "original-1", "original-8", "new-0"], "ori_id": 0, "name": "dishwasher", "text": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/semantics.txt b/data/PartNet-Mobility/Dishwasher/12621/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5246c243bce8e6eea957b8419ca58c0638ad6aed
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_door
+link_1 heavy dishwasher_body
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a948c46bc940d5cebd7b3ee8af57b0d3e88a1ae
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-0.obj
@@ -0,0 +1,9 @@
+mtllib new-0.mtl
+v 0.534663 -0.709438 0.404720
+v 0.449468 -0.539049 0.404720
+v -0.487671 -0.709438 0.404720
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b66f116b4c7f5e58a233e9ac76ad17e761c3b7
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.mtl
@@ -0,0 +1,8 @@
+newmtl material-0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeb5b86dd81333c46d07b2b53fdc358fd4ec60f5
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/new-1.obj
@@ -0,0 +1,52 @@
+mtllib new-1.mtl
+v 0.534663 -0.709438 -0.445010
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13846fc3c2183c5a8f8a0ad3b075b902fac89329
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-1.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o DishwasherDoor/ID4#ID4
+v 0.529551 -0.539049 0.404720
+v -0.482559 -0.539049 0.488210
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4eff402b143e36a6236b62f4aeaea1fe645d8a3
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-10.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID65
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7883989784fbdd9a0df681008a465af582ee5bb5
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-11.obj
@@ -0,0 +1,30 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f030e57f382191b98af69bb91230c79370991bf
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894b6fe9ae34a4ee3abd14e23696e8dba8edccf6
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e756b6b97db4a006e7a3d743feb82ffa0a4e9ef4
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-14.obj
@@ -0,0 +1,62 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1286fa58da1459a32bee27feac67cf70bd232b13
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-15.obj
@@ -0,0 +1,42 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-16.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7996da990df92529176bccd30eb90aa3b85309e8
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-4.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e413fffb8c2a4e843dda784ee6e2688f1b78e21c
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-4.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-6.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0299328c3a89b86d503cd583ac2e846c21650f9
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-6.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-7.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d56c032946268721486a34d55ce9e01d00b70b31
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-7.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-8.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5be1a3a197b88c1e54f1fc9e282521e695ce3f3
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-8.obj
@@ -0,0 +1,12 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-9.obj b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d07654e75ad6c53a2c9f78f084cfa2ee9ac498b
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Dishwasher/12621/tree_hier.html b/data/PartNet-Mobility/Dishwasher/12621/tree_hier.html
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/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 dishwasher Dish Washer</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 body Body</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>2 base Base</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td></tr><tr><td><p>6 frame Frame</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 door Door</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>4 surface_base Surface Base</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>8 door_frame Door Frame</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>5 surface Surface</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12621/tree_hier_after_merging.html b/data/PartNet-Mobility/Dishwasher/12621/tree_hier_after_merging.html
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12621/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 dishwasher dishwasher</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 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>5 base base</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame frame</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 door door</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>6 surface_base surface_base</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 door_frame door_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td><p>7 surface surface</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12654/bounding_box.json b/data/PartNet-Mobility/Dishwasher/12654/bounding_box.json
new file mode 100644
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+++ b/data/PartNet-Mobility/Dishwasher/12654/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.341079, -0.287019, -0.486374], "max": [0.316374, 0.517702, 0.916191]}
\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95f945fc8e86b9e6573dd0a9e09bc874988dcfe6a67b5b733123c935e9d80a94
+size 16173
diff --git a/data/PartNet-Mobility/Dishwasher/12654/images/texture_1.jpg b/data/PartNet-Mobility/Dishwasher/12654/images/texture_1.jpg
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/meta.json b/data/PartNet-Mobility/Dishwasher/12654/meta.json
new file mode 100644
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+++ b/data/PartNet-Mobility/Dishwasher/12654/meta.json
@@ -0,0 +1 @@
+{"model_id": "u0adff575-6f30-48fd-a77e-9e7c072e2b9d", "anno_id": "12654", "user_id": "chuangda021", "time_in_sec": "304", "version": "3", "model_cat": "Dishwasher"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12654/mobility.urdf b/data/PartNet-Mobility/Dishwasher/12654/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8086b52e3588ce5e857641fbb6eda597442536ae
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/mobility.urdf
@@ -0,0 +1,128 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u0adff575-6f30-48fd-a77e-9e7c072e2b9d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="door_frame-11">
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="door_frame-11">
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.3301210105419159 0.23387967304817645 -0.17332130775335297"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="-0.3301210105419159 -0.23387967304817645 0.17332130775335297"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-1.5707963267948966" upper="0.0"/>
+	</joint>
+	<link name="link_1">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="shelf-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dishwasher/12654/mobility_v2.json b/data/PartNet-Mobility/Dishwasher/12654/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a72d0b2a4cbc6071cb8d9875371f6e29f3e99ac3
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"door_frame","parts":[{"id":11,"name":"door_frame","children":[]}],"jointData":{"axis":{"origin":[-0.3301210105419159,-0.23387967304817645,0.17332130775335297],"direction":[1,0,0]},"limit":{"a":-90,"b":0,"noLimit":false}}},{"id":1,"parent":-1,"joint":"heavy","name":"frame","parts":[{"id":2,"name":"frame","children":[]},{"id":12,"name":"shelf","children":[]}],"jointData":{}}]
\ No newline at end of file
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1 @@
+0 dishwasher Dish Washer
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+++ b/data/PartNet-Mobility/Dishwasher/12654/parts_render/1.txt
@@ -0,0 +1 @@
+1 body Body
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@@ -0,0 +1 @@
+11 door_frame Door Frame
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+12 shelf Shelf
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@@ -0,0 +1 @@
+3 body_interior Body Interior
\ No newline at end of file
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/parts_render_after_merging/0.png b/data/PartNet-Mobility/Dishwasher/12654/parts_render_after_merging/0.png
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/point_sample/ply-10000.ply b/data/PartNet-Mobility/Dishwasher/12654/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..79b6be277aaf89343207f970827a942d0672d466
--- /dev/null
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index 0000000000000000000000000000000000000000..e7ed3f41feee1aa3b5599b323d2abc83ae452067
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/point_sample/pts-10000.txt b/data/PartNet-Mobility/Dishwasher/12654/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8125d794a237a5a951498b47003c83dd1e65390d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ff83d6dae1d65f51c4b681fcf4c6716df7db1
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-label-10000.txt
@@ -0,0 +1,10000 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..7fc276eddf377c6820ec8b817386d2229efb4cb8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b33ec492ce2048fd929f2f8e62c5d6749b76aced
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/result.json b/data/PartNet-Mobility/Dishwasher/12654/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2533aed5f7eb505ef9e4016d7f288715e318cdc6
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/result.json
@@ -0,0 +1 @@
+[{"text": "Dish Washer", "children": [{"text": "Body", "children": [{"text": "Frame", "objs": ["original-2", "original-4"], "id": 2, "name": "frame"}, {"text": "Body Interior", "children": [{"text": "Shelf", "objs": ["original-5", "original-3"], "id": 12, "name": "shelf"}], "id": 3, "name": "body_interior"}, {"text": "Door", "children": [{"text": "Door Frame", "objs": ["original-9", "original-12", "original-10", "original-11", "original-8"], "id": 11, "name": "door_frame"}], "id": 4, "name": "door"}], "id": 1, "name": "body"}], "id": 0, "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12654/result_after_merging.json b/data/PartNet-Mobility/Dishwasher/12654/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f5dee412a0a63b1bb408da288be59b8cc4bf09
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/result_after_merging.json
@@ -0,0 +1 @@
+[{"children": [{"children": [{"text": "frame", "ori_id": 2, "name": "frame", "objs": ["original-2", "original-4"], "id": 2}, {"children": [{"text": "door_frame", "ori_id": 11, "name": "door_frame", "objs": ["original-9", "original-12", "original-10", "original-11", "original-8"], "id": 4}], "ori_id": 4, "objs": ["original-9", "original-12", "original-10", "original-11", "original-8"], "id": 3, "text": "door", "name": "door"}], "ori_id": 1, "objs": ["original-2", "original-4", "original-5", "original-3", "original-9", "original-12", "original-10", "original-11", "original-8"], "id": 1, "text": "body", "name": "body"}], "ori_id": 0, "objs": ["original-2", "original-4", "original-5", "original-3", "original-9", "original-12", "original-10", "original-11", "original-8"], "id": 0, "text": "dishwasher", "name": "dishwasher"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12654/semantics.txt b/data/PartNet-Mobility/Dishwasher/12654/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5246c243bce8e6eea957b8419ca58c0638ad6aed
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge rotation_door
+link_1 heavy dishwasher_body
diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.obj b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26d34038588dd50cb5edcaf3f17e39dbef570b8e
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-10.obj
@@ -0,0 +1,16 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-11.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-11.obj b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8913b1f4aff9331735fa2620f1bfcf2b1295b0a8
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-11.obj
@@ -0,0 +1,58 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.obj b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d597ffa9d02b3c8e2268d029cbbb3077de985222
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-12.obj
@@ -0,0 +1,47 @@
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+vt 0.3997354 0.1023905
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+f 1/1/1 2/2/1 3/2/1
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+f 9/5/1 4/1/1 1/1/1
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+f 25/18/3 26/5/3 27/19/3
+f 28/20/3 27/19/3 26/5/3
diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.obj b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7906996851de608b7db604ff0265964c6b1bfe9a
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-8.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID45
+v 0.305416 -0.263351 0.171078
+v -0.330121 -0.263351 0.905234
+v -0.330121 -0.263351 0.171078
+v 0.305416 -0.263351 0.905234
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.obj b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f611fed02b59b8a4a917eb0718491a85f0e67a89
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/textured_objs/original-9.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID51
+v -0.330121 -0.227849 0.171078
+v -0.330121 -0.263351 0.905234
+v -0.330121 -0.227849 0.905234
+v -0.330121 -0.263351 0.171078
+v -0.330121 -0.227849 0.905234
+v -0.297249 -0.227849 0.872361
+v -0.330121 -0.227849 0.171078
+v 0.305416 -0.227849 0.905234
+v 0.272543 -0.227849 0.872361
+v 0.272543 -0.227849 0.203951
+v -0.297249 -0.227849 0.203951
+v 0.305416 -0.227849 0.171078
+v -0.330121 -0.227849 0.171078
+v 0.305416 -0.263351 0.171078
+v -0.330121 -0.263351 0.171078
+v 0.305416 -0.227849 0.171078
+v 0.305416 -0.263351 0.171078
+v 0.305416 -0.227849 0.905234
+v 0.305416 -0.263351 0.905234
+v 0.305416 -0.227849 0.171078
+vt 0.2124808 -0.3970284
+vt 0.2019324 -0.6226699
+vt 0.2124803 -0.62267
+vt 0.2019329 -0.3970284
+vt 0.2230283 -0.6125666
+vt 0.4164068 -0.6226703
+vt 0.4058589 -0.6125669
+vt 0.4058593 -0.4071321
+vt 0.2230287 -0.4071317
+vt 0.4164072 -0.3970287
+vt 0.1821768 -0.3816994
+vt 0.3861031 -0.3715963
+vt 0.1821768 -0.371596
+vt 0.3861031 -0.3816996
+vt 0.396651 -0.3816996
+vt 0.3861027 -0.6073411
+vt 0.3966506 -0.6073412
+vn -1 0 0
+vn 0 1 0
+vn 0 0 -1
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
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+f 6/5/2 8/6/2 9/7/2
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+f 11/9/2 7/1/2 6/5/2
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+f 17/15/4 18/16/4 19/17/4
+f 18/16/4 17/15/4 20/14/4
diff --git a/data/PartNet-Mobility/Dishwasher/12654/tree_hier.html b/data/PartNet-Mobility/Dishwasher/12654/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..4b5dee04ff21e7b022bc18df0d930e1061a17b8f
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/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 dishwasher Dish Washer</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 body Body</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame Frame</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 body_interior Body Interior</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>4 door Door</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>12 shelf Shelf</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 door_frame Door Frame</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dishwasher/12654/tree_hier_after_merging.html b/data/PartNet-Mobility/Dishwasher/12654/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..1ebc7b681c12d3a17c71dc1b7b22347eefa71e4f
--- /dev/null
+++ b/data/PartNet-Mobility/Dishwasher/12654/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 dishwasher dishwasher</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 body body</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 frame frame</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 door door</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td><p>4 door_frame door_frame</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/bounding_box.json b/data/PartNet-Mobility/Dispenser/101336/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..13536b83e294ba27650af07c5914c8c532160258
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.443764, -0.750158, -0.441661], "max": [0.436518, 0.993963, 0.438621]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/meta.json b/data/PartNet-Mobility/Dispenser/101336/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..489890611125a8df2e53e465e2197cb868316cc0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "0482edcd-c21f-4bbb-aa35-7339057aa7b5", "version": "3", "anno_id": "1336", "time_in_sec": "88"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/mobility.urdf b/data/PartNet-Mobility/Dispenser/101336/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..da3d85abb2e397e74ef7c60ff1506614b506464b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/mobility.urdf
@@ -0,0 +1,108 @@
+<?xml version="1.0" ?>
+<robot name="partnet_0482edcd-c21f-4bbb-aa35-7339057aa7b5">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.05"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.017747506009423705 0 -0.027269471877080162"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.017747506009423705 0 0.027269471877080162"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.05"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101336/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101336/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b953484fadd17db4ef8642d0d0f1f70904e48ad4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"button","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":-0.05,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[-0.017747506009423705,0,0.027269471877080162],"direction":[0,1,0]},"limit":{"a":0,"b":0.05,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/result.json b/data/PartNet-Mobility/Dispenser/101336/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..3486eba373a25725abfe65eaf5578a0bb08bd035
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-5"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-4", "original-6", "original-3"]}]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-2", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/result_original.json b/data/PartNet-Mobility/Dispenser/101336/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..df5fb8dcfbeb818eaef1d3b46c7a00df6fbeabf3
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-5"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-4", "original-6", "original-3"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101336/semantics.txt b/data/PartNet-Mobility/Dispenser/101336/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23ab62dcd624160e03247dbd6e7304e8172acebe
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider pressing_lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a57497a0f9be79c7b59f3a647cdb1f5d2989f9b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-1.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID3
+v -0.388638 -0.750158 -0.214937
+v -0.443764 -0.750158 0.006163
+v -0.430755 -0.750158 -0.108016
+v -0.320282 -0.750158 -0.307314
+v -0.426778 -0.750158 0.119818
+v -0.380955 -0.750158 0.225204
+v -0.230347 -0.750158 -0.378851
+v -0.309417 -0.750158 0.315140
+v -0.124961 -0.750158 -0.424675
+v -0.217041 -0.750158 0.383495
+v -0.011306 -0.750158 -0.441661
+v -0.110119 -0.750158 0.425612
+v 0.102873 -0.750158 -0.428652
+v 0.209794 -0.750158 -0.386534
+v 0.004059 -0.750158 0.438621
+v 0.117715 -0.750158 0.421636
+v 0.302171 -0.750158 -0.318179
+v 0.223100 -0.750158 0.375812
+v 0.373708 -0.750158 -0.228243
+v 0.419532 -0.750158 -0.122857
+v 0.313036 -0.750158 0.304274
+v 0.436518 -0.750158 -0.009202
+v 0.381391 -0.750158 0.211898
+v 0.423509 -0.750158 0.104976
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//1 4//1 5//1
+f 5//1 4//1 6//1
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new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-2.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1cef6e2b5d5e956b1fb9527849a744e2d0deee9c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ef886fce76e532d042c93b15ff5acf2229b5050
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ada866c26fedee965ab7775a659e401f1c10226
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-4.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101336/textured_objs/original-6.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101417/meta.json b/data/PartNet-Mobility/Dispenser/101417/meta.json
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diff --git a/data/PartNet-Mobility/Dispenser/101417/mobility.urdf b/data/PartNet-Mobility/Dispenser/101417/mobility.urdf
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/mobility.urdf
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_2">
+		<visual name="head-5">
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-5">
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="nose-7">
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0008504999999999971 0 0.004366499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_2_helper"/>
+	</joint>
+	<link name="link_2_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.0008504999999999971 0 -0.004366499999999999"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.12"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101417/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101417/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e81c081c251beb8817357790e5c75ba13850ebf
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"handle","parts":[{"id":1,"name":"handle"}],"jointData":{"axis":{"origin":[0.060232291349398004,0.8545218342536304,0.08214627610414826],"direction":[1,0,0]},"limit":{"a":0,"b":29.880000000000003,"noLimit":false}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":8,"name":"base_body"}],"jointData":{}},{"id":2,"parent":1,"joint":"slider","name":"head","parts":[{"id":5,"name":"head"},{"id":7,"name":"nose"}],"jointData":{"axis":{"origin":[0.0008504999999999971,0,-0.004366499999999999],"direction":[0,1,0]},"limit":{"a":0,"b":0.12,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101417/result.json b/data/PartNet-Mobility/Dispenser/101417/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a852038e0ed864f09d8021c891f42dab97ac74a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-12"]}, {"text": "head (other)", "name": "other", "id": 4, "children": [{"text": "other_leaf", "name": "head", "id": 5, "objs": ["original-11", "original-14"]}]}, {"text": "nose (other)", "name": "other", "id": 6, "children": [{"text": "other_leaf", "name": "nose", "id": 7, "objs": ["original-8"]}]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-21", "original-30", "original-36", "original-41", "original-28", "original-64", "original-43", "original-52", "original-22", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-16", "original-45", "original-35", "original-49", "original-61", "original-39", "original-59", "original-54", "original-63", "original-27", "original-51", "original-55", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-56", "original-62", "original-23", "original-66", "original-58", "original-67", "original-38", "original-68", "original-34", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-32", "original-47", "original-53", "original-60", "original-19", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101417/result_original.json b/data/PartNet-Mobility/Dispenser/101417/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..095ac3fa677f5da179bf32bbede6595f511e03bb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-12"]}, {"id": 4, "name": "other", "text": "head (other)", "children": [{"id": 5, "name": "other_leaf", "text": "other_leaf", "objs": ["original-11", "original-14"]}]}, {"id": 6, "name": "other", "text": "nose (other)", "children": [{"id": 7, "name": "other_leaf", "text": "other_leaf", "objs": ["original-8"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101417/semantics.txt b/data/PartNet-Mobility/Dispenser/101417/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..582065087471585324745a15287440d263b24a14
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge handle
+link_1 free dispenser_body
+link_2 slider+ lid
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..199bb6fd844eff838c7123dac658fc0b27233b4a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-11.obj
@@ -0,0 +1,658 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Group8/mesh6/mesh6-geometry#mesh6-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068ea7985c7596cd7a3e111e3f50555b3fa1370d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-12.obj
@@ -0,0 +1,2305 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8765d9c36aac0f5dce155e9902bcd2a2e8c0d40
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-14.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o Group11/mesh8/mesh8-geometry#mesh8-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29f2ffe7331252b4b5baa8f72e2199fb2e126740
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-15.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o mesh9/mesh9-geometry#mesh9-geometry
+v 0.075552 0.682093 0.021609
+v 0.082382 0.564728 0.023659
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..104b1594ba5ec6a27d1f439ab58b38b4a7c6eb61
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-16.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9bee5db7353c0c1107b4930b7dbce1bbf55dee8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-17.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o mesh11/mesh11-geometry#mesh11-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68aa8fa3d62782e12d55d3447e190a082dd62965
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-18.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5b8051a16a9b55ae66ec374e4ba8633ad984c5d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-19.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c481cb23126c59080e3261023d45ed21f45cf74
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5191f152569271d8dd90bdae1031b8d897f508b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-2.obj
@@ -0,0 +1,6041 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01f4dec044edf1918b5914cd841a498ea2d66e76
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-20.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh14/mesh14-geometry#mesh14-geometry
+v 0.065564 0.682093 -0.049833
+v 0.071218 0.564728 -0.054179
+v 0.071218 0.682093 -0.054179
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f545e4f9a274e04cac208dd86502bd11796b2bf9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-21.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh15/mesh15-geometry#mesh15-geometry
+v 0.021718 0.682093 -0.088017
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5d67d4f2e19a2c2fe0902e385165ac32dc2daf9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-22.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
+v 0.073127 0.564728 -0.051365
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f0f3fad3c0313200b075164e543e90e1131cf50
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-23.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o mesh17/mesh17-geometry#mesh17-geometry
+v 0.047797 0.564728 -0.068014
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+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
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+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43f43861b32b03a0dddd01502bd44f82963c8d95
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-24.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh18/mesh18-geometry#mesh18-geometry
+v 0.059741 0.682093 -0.057158
+v 0.054986 0.564728 -0.062024
+v 0.059741 0.564728 -0.057158
+v 0.054986 0.682093 -0.062024
+v 0.064842 0.564728 -0.062142
+v 0.064842 0.682093 -0.062142
+v 0.060086 0.564728 -0.067008
+v 0.060086 0.682093 -0.067008
+vn -0.7152162395742357 0 0.6989032341099083
+vn 0.7152162395742357 0 -0.6989032341099083
+vn 0 -1 0
+vn 0 1 0
+vn 0.6989032341099083 0 0.7152162395742357
+vn -0.6989032341099083 0 -0.7152162395742357
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
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+f 1//3 4//3 6//3
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+f 5//3 2//3 7//3
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+f 8//3 6//3 4//3
+f 7//6 4//6 8//6
+f 8//5 4//5 7//5
+f 8//2 5//2 7//2
+f 7//1 5//1 8//1
+f 5//2 8//2 6//2
+f 6//1 8//1 5//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17fc36b7ef66ffe21eee40ebaec37ee1eefcbed6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-25.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh19/mesh19-geometry#mesh19-geometry
+v 0.004297 0.564728 -0.083380
+v 0.011692 0.564728 -0.089896
+v 0.011075 0.564728 -0.082792
+v 0.004913 0.564728 -0.090485
+v 0.011692 0.682093 -0.089896
+v 0.004297 0.682093 -0.083380
+v 0.004913 0.682093 -0.090485
+v 0.011075 0.682093 -0.082792
+vn 0 -1 0
+vn 0 1 0
+vn 0.9962513272501842 0 0.08650602841563464
+vn -0.9962513272501842 0 -0.08650602841563464
+vn -0.08650602841563464 0 0.9962513272501842
+vn 0.08650602841563464 0 -0.9962513272501842
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 3//5 6//5 1//5
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+f 1//3 4//3 6//3
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+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
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+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dcca35a3d77ea12410794e327466624bf04ece9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-26.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o mesh20/mesh20-geometry#mesh20-geometry
+v -0.056837 0.682093 -0.058470
+v -0.066681 0.682093 -0.057962
+v -0.061274 0.682093 -0.053312
+v -0.062244 0.682093 -0.063120
+v -0.061274 0.564728 -0.053312
+v -0.056837 0.564728 -0.058470
+v -0.062244 0.564728 -0.063120
+v -0.066681 0.564728 -0.057962
+vn 0 1 0
+vn 0 -1 0
+vn -0.6520758051949905 0 0.7581537735046265
+vn 0.6520758051949905 0 -0.7581537735046265
+vn 0.7581537735046265 0 0.6520758051949905
+vn -0.7581537735046265 0 -0.6520758051949905
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 6//4 4//4 1//4
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+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
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+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
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+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cd988bc0c040895b331e4efa02e320f992f2188
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-27.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh21/mesh21-geometry#mesh21-geometry
+v -0.037875 0.682093 -0.081394
+v -0.034423 0.564728 -0.075154
+v -0.037875 0.564728 -0.081394
+v -0.034423 0.682093 -0.075154
+v -0.043829 0.564728 -0.078100
+v -0.043829 0.682093 -0.078100
+v -0.040377 0.682093 -0.071860
+v -0.040377 0.564728 -0.071860
+vn 0.8750205599360832 0 -0.48408575654437863
+vn -0.8750205599360832 0 0.48408575654437863
+vn 0 -1 0
+vn 0 1 0
+vn -0.48408575654437863 0 -0.8750205599360832
+vn 0.48408575654437863 0 0.8750205599360832
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 1//3 4//3 6//3
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+f 8//4 2//4 5//4
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+f 7//2 5//2 8//2
+f 8//1 5//1 7//1
+f 5//2 7//2 6//2
+f 6//1 7//1 5//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fb731054775f3318ce46b15f7d7ddeb4f2acdf2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-28.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
+v -0.007606 0.682093 -0.083002
+v -0.015400 0.682093 -0.089035
+v -0.014334 0.682093 -0.081984
+v -0.008673 0.682093 -0.090053
+v -0.015400 0.564728 -0.089035
+v -0.007606 0.564728 -0.083002
+v -0.008673 0.564728 -0.090053
+v -0.014334 0.564728 -0.081984
+vn 0 1 0
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+vn 0.9887473490110671 0 -0.14959505280451985
+vn 0.14959505280451985 0 0.9887473490110671
+vn -0.14959505280451985 0 -0.9887473490110671
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 1//3 4//3 6//3
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+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1300f63f02e14ef207b4e4a1125d7675b6b2f212
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-29.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh23/mesh23-geometry#mesh23-geometry
+v -0.075163 0.682093 -0.026208
+v -0.083691 0.682093 -0.021267
+v -0.076759 0.682093 -0.019594
+v -0.082095 0.682093 -0.027881
+v -0.076759 0.564728 -0.019594
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+v -0.082095 0.564728 -0.027881
+v -0.083691 0.564728 -0.021267
+vn 0 1 0
+vn 0 -1 0
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+vn 0.23456698973898452 0 -0.9720999574759742
+vn 0.9720999574759742 0 0.23456698973898452
+vn -0.9720999574759742 0 -0.23456698973898452
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
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+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
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+f 8//4 2//4 5//4
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+f 7//3 6//3 4//3
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+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c481cb23126c59080e3261023d45ed21f45cf74
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.33999999999999997
+Ns 30
+Kd 0.6 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa07fc9e80451d42d0279dcf5932601b568f4448
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-3.obj
@@ -0,0 +1,5941 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v -0.073452 0.148947 -0.106802
+v -0.091980 0.167173 -0.079658
+v -0.069330 0.167173 -0.101119
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a174dc945048f71791635fcd14f3380b2d2e8ff
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-30.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o mesh24/mesh24-geometry#mesh24-geometry
+v 0.022734 0.682093 -0.080367
+v 0.025001 0.564728 -0.087129
+v 0.022734 0.564728 -0.080367
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+vn -0.3177801431129552 0 0.9481644270078421
+vn 0.3177801431129552 0 -0.9481644270078421
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60d0dc182152de83126887d595fc0aa2aeaaff98
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-31.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
+v -0.072051 0.564728 -0.035033
+v -0.078737 0.682093 -0.037513
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+vn -0.9375910042749462 0 -0.34774000158552054
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b4c3f95462c0984c61a36844684df639c4da63
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-32.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
+v 0.031558 0.564728 -0.077251
+v 0.040757 0.564728 -0.080788
+v 0.037708 0.564728 -0.074342
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+vn 0.4275438221501441 0 -0.9039946239559427
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8caa65902051c0c23e6fe6b2030b9ece7b52b81
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-33.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
+v -0.084292 0.564728 -0.017919
+v -0.077211 0.682093 -0.017077
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac37d13efba8b436e5a3a1ae1dd05211266355b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-34.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o mesh28/mesh28-geometry#mesh28-geometry
+v -0.032117 0.682093 -0.076257
+v -0.034807 0.564728 -0.082861
+v -0.032117 0.564728 -0.076257
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+vn -0.3773490443683259 0 -0.9260711088865213
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62084874d204620e2f2234954d220670cfdef86e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-35.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o mesh29/mesh29-geometry#mesh29-geometry
+v -0.071981 0.682093 0.026466
+v -0.081042 0.682093 0.022588
+v -0.078661 0.682093 0.028961
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+vn 0.34987896734474777 0 0.9367949125661243
+vn -0.34987896734474777 0 -0.9367949125661243
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..656d8a98bfb5b93eea38c75c9abd14087bcb63a1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-36.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o mesh30/mesh30-geometry#mesh30-geometry
+v 0.049504 0.682093 -0.075540
+v 0.039951 0.682093 -0.073114
+v 0.045715 0.682093 -0.069499
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88a4b52c07223de07d97888955d27684680424c0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-37.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o mesh31/mesh31-geometry#mesh31-geometry
+v -0.062824 0.682093 -0.051278
+v -0.066620 0.564728 -0.045631
+v -0.062824 0.564728 -0.051278
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..552de7105a246414d7b8abadb6e3ae7bb1736bd2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-38.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
+o mesh32/mesh32-geometry#mesh32-geometry
+v -0.067829 0.682093 0.034853
+v -0.077285 0.682093 0.032071
+v -0.074169 0.682093 0.038119
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+vn -0.45807481562011404 0 -0.8889136422029974
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..690ebb5849f76204f8f3674189d6607223a7a331
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-39.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o mesh33/mesh33-geometry#mesh33-geometry
+v -0.048060 0.682093 -0.066518
+v -0.042537 0.564728 -0.070492
+v -0.042537 0.682093 -0.070492
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c481cb23126c59080e3261023d45ed21f45cf74
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.33999999999999997
+Ns 30
+Kd 0.6 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae676553af7b56b6bab8e1b2acd67840455e5d7d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-4.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v -0.031451 -0.442764 0.198557
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+f 24//1 23//1 25//1
+f 25//2 23//2 24//2
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbddf513cdaa318f3068d98fddce0a9d91510761
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-40.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o mesh34/mesh34-geometry#mesh34-geometry
+v -0.085297 0.564728 -0.007768
+v -0.078165 0.564728 -0.000965
+v -0.085297 0.564728 -0.000965
+v -0.078165 0.564728 -0.007768
+v -0.085297 0.682093 -0.000965
+v -0.078165 0.682093 -0.007768
+v -0.078165 0.682093 -0.000965
+v -0.085297 0.682093 -0.007768
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 1
+vn 0 0 -1
+vn -1 0 0
+vn 1 0 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
+f 6//6 2//6 4//6
+f 4//5 2//5 6//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 1//5 5//5 8//5
+f 8//6 5//6 1//6
+f 6//4 1//4 8//4
+f 8//3 1//3 6//3
+f 2//6 6//6 7//6
+f 7//5 6//5 2//5
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8e1825c00b2cdeeaf82390cabc321aeae1ff291
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-41.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh35/mesh35-geometry#mesh35-geometry
+v -0.077181 0.682093 0.008522
+v -0.085080 0.682093 0.002626
+v -0.084261 0.682093 0.009381
+v -0.078000 0.682093 0.001768
+v -0.085080 0.564728 0.002626
+v -0.077181 0.564728 0.008522
+v -0.084261 0.564728 0.009381
+v -0.078000 0.564728 0.001768
+vn 0 1 0
+vn 0 -1 0
+vn -0.992728365641779 0 0.1203760443369128
+vn 0.992728365641779 0 -0.1203760443369128
+vn 0.1203760443369128 0 0.992728365641779
+vn -0.1203760443369128 0 -0.992728365641779
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//6 5//6 2//6
+f 2//5 5//5 4//5
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//6 4//6 8//6
+f 8//5 4//5 5//5
+f 5//2 6//2 7//2
+f 7//1 6//1 5//1
+f 6//2 5//2 8//2
+f 8//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9edca9d232594c86b0a112826a9bcc1b1d88d9a8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-42.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o mesh36/mesh36-geometry#mesh36-geometry
+v -0.059878 0.564728 -0.065563
+v -0.050044 0.564728 -0.064905
+v -0.055058 0.564728 -0.060306
+v -0.054863 0.564728 -0.070161
+v -0.055058 0.682093 -0.060306
+v -0.059878 0.682093 -0.065563
+v -0.054863 0.682093 -0.070161
+v -0.050044 0.682093 -0.064905
+vn 0 -1 0
+vn 0 1 0
+vn 0.6758308101557731 0 0.7370567929570907
+vn -0.6758308101557731 0 -0.7370567929570907
+vn -0.7370567929570907 0 0.6758308101557731
+vn 0.7370567929570907 0 -0.6758308101557731
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..420c52cddb8b17535031876de49f5efca915f07a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-43.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
+v -0.034123 0.564728 0.074435
+v -0.025167 0.564728 0.070321
+v -0.027800 0.564728 0.076948
+v -0.031490 0.564728 0.067808
+v -0.025167 0.682093 0.070321
+v -0.034123 0.682093 0.074435
+v -0.031490 0.682093 0.067808
+v -0.027800 0.682093 0.076948
+vn 0 -1 0
+vn 0 1 0
+vn 0.9293198017872593 0 0.3692759212378857
+vn -0.9293198017872593 0 -0.3692759212378857
+vn -0.3692759212378857 0 0.9293198017872593
+vn 0.3692759212378857 0 -0.9293198017872593
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
+f 2//6 7//6 5//6
+f 5//5 7//5 2//5
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70f31347761c9125b8caed0a3433293c5cbe6a5f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-44.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o mesh38/mesh38-geometry#mesh38-geometry
+v -0.043186 0.564728 0.069753
+v -0.033806 0.564728 0.066725
+v -0.037204 0.564728 0.072995
+v -0.039788 0.564728 0.063483
+v -0.033806 0.682093 0.066725
+v -0.043186 0.682093 0.069753
+v -0.039788 0.682093 0.063483
+v -0.037204 0.682093 0.072995
+vn 0 -1 0
+vn 0 1 0
+vn 0.8791999555085269 0 0.47645297588933594
+vn -0.8791999555085269 0 -0.47645297588933594
+vn -0.47645297588933594 0 0.8791999555085269
+vn 0.47645297588933594 0 -0.8791999555085269
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
+f 2//6 7//6 5//6
+f 5//5 7//5 2//5
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f81d90121b7fed8412332e9e7ce247dd32c639c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-45.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o mesh39/mesh39-geometry#mesh39-geometry
+v -0.051632 0.564728 0.064033
+v -0.041960 0.564728 0.062134
+v -0.046074 0.564728 0.067959
+v -0.047517 0.564728 0.058209
+v -0.041960 0.682093 0.062134
+v -0.051632 0.682093 0.064033
+v -0.047517 0.682093 0.058209
+v -0.046074 0.682093 0.067959
+vn 0 -1 0
+vn 0 1 0
+vn 0.8167717976427702 0 0.5769608570565229
+vn -0.8167717976427702 0 -0.5769608570565229
+vn -0.5769608570565229 0 0.8167717976427702
+vn 0.5769608570565229 0 -0.8167717976427702
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
+f 2//6 7//6 5//6
+f 5//5 7//5 2//5
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9343a208fb5d5ada4b67482dfc6e1ed65c46e4f6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-46.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
+v -0.059343 0.564728 0.057356
+v -0.049515 0.564728 0.056612
+v -0.054288 0.564728 0.061910
+v -0.054569 0.564728 0.052058
+v -0.049515 0.682093 0.056612
+v -0.059343 0.682093 0.057356
+v -0.054569 0.682093 0.052058
+v -0.054288 0.682093 0.061910
+vn 0 -1 0
+vn 0 1 0
+vn 0.7429101563896622 0 0.6693911409132093
+vn -0.7429101563896622 0 -0.6693911409132093
+vn -0.6693911409132093 0 0.7429101563896622
+vn 0.6693911409132093 0 -0.7429101563896622
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
+f 2//6 7//6 5//6
+f 5//5 7//5 2//5
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..671fcfbce099bc0aef56769bfb0e53a9c6e813be
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-47.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
+v -0.066212 0.564728 0.049814
+v -0.056364 0.564728 0.050237
+v -0.061730 0.564728 0.054934
+v -0.060846 0.564728 0.045117
+v -0.061730 0.682093 0.054934
+v -0.066212 0.682093 0.049814
+v -0.060846 0.682093 0.045117
+v -0.056364 0.682093 0.050237
+vn 0 -1 0
+vn 0 1 0
+vn 0.6586481003433992 0 0.7524511146340549
+vn -0.6586481003433992 0 -0.7524511146340549
+vn -0.7524511146340549 0 0.6586481003433992
+vn 0.7524511146340549 0 -0.6586481003433992
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..788a8763146ee134a3ef91618f4420580b17660f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-48.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
+v -0.072142 0.564728 0.041514
+v -0.062413 0.564728 0.043097
+v -0.068296 0.564728 0.047127
+v -0.066258 0.564728 0.037484
+v -0.068296 0.682093 0.047127
+v -0.072142 0.682093 0.041514
+v -0.066258 0.682093 0.037484
+v -0.062413 0.682093 0.043097
+vn 0 -1 0
+vn 0 1 0
+vn 0.5651660966193912 0 0.8249771410360417
+vn -0.5651660966193912 0 -0.8249771410360417
+vn -0.8249771410360417 0 0.5651660966193912
+vn 0.8249771410360417 0 -0.5651660966193912
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22c74013bce4eecd57932dc6bceec28d9a6324d0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-49.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
+v 0.077946 0.564728 -0.022008
+v 0.086191 0.564728 -0.016607
+v 0.079177 0.564728 -0.015317
+v 0.084960 0.564728 -0.023299
+v 0.079177 0.682093 -0.015317
+v 0.077946 0.682093 -0.022008
+v 0.084960 0.682093 -0.023299
+v 0.086191 0.682093 -0.016607
+vn 0 -1 0
+vn 0 1 0
+vn 0.18092902849116774 0 0.983496154872627
+vn -0.18092902849116774 0 -0.983496154872627
+vn -0.983496154872627 0 0.18092902849116774
+vn 0.983496154872627 0 -0.18092902849116774
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4e64bc68d51ccca9a0124bf994b4920fc98d3ed
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-50.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o mesh44/mesh44-geometry#mesh44-geometry
+v 0.071657 0.564728 -0.039600
+v 0.080939 0.564728 -0.036284
+v 0.074424 0.564728 -0.033384
+v 0.078172 0.564728 -0.042500
+v 0.074424 0.682093 -0.033384
+v 0.071657 0.682093 -0.039600
+v 0.078172 0.682093 -0.042500
+v 0.080939 0.682093 -0.036284
+vn 0 -1 0
+vn 0 1 0
+vn 0.40657598648846377 0 0.9136169696382246
+vn -0.40657598648846377 0 -0.9136169696382246
+vn -0.9136169696382246 0 0.40657598648846377
+vn 0.9136169696382246 0 -0.40657598648846377
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d07d6198cabecd325363e2ce5595d426932f651
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-51.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o mesh45/mesh45-geometry#mesh45-geometry
+v 0.079561 0.682093 0.003362
+v 0.086681 0.564728 0.003752
+v 0.086681 0.682093 0.003752
+v 0.079561 0.564728 0.003362
+v 0.087054 0.682093 -0.003041
+v 0.079934 0.564728 -0.003432
+v 0.087054 0.564728 -0.003041
+v 0.079934 0.682093 -0.003432
+vn -0.054814974148332425 0 0.9984965290921733
+vn 0.054814974148332425 0 -0.9984965290921733
+vn 0.9984965290921733 0 0.054814974148332425
+vn -0.9984965290921733 0 -0.054814974148332425
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
+f 4//6 7//6 2//6
+f 2//5 7//5 4//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 1//5 5//5 8//5
+f 8//6 5//6 1//6
+f 6//4 1//4 8//4
+f 8//3 1//3 6//3
+f 7//6 4//6 6//6
+f 6//5 4//5 7//5
+f 7//2 8//2 5//2
+f 5//1 8//1 7//1
+f 8//2 7//2 6//2
+f 6//1 7//1 8//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca4352d7d103ed3a54d9cc51bfb18594afe16183
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-52.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o mesh46/mesh46-geometry#mesh46-geometry
+v 0.079491 0.564728 -0.012779
+v 0.087039 0.564728 -0.006442
+v 0.079923 0.564728 -0.005989
+v 0.086607 0.564728 -0.013232
+v 0.079923 0.682093 -0.005989
+v 0.079491 0.682093 -0.012779
+v 0.086607 0.682093 -0.013232
+v 0.087039 0.682093 -0.006442
+vn 0 -1 0
+vn 0 1 0
+vn 0.0635009857337114 0 0.9979817757909445
+vn -0.0635009857337114 0 -0.9979817757909445
+vn -0.9979817757909445 0 0.0635009857337114
+vn 0.9979817757909445 0 -0.0635009857337114
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 1//5 5//5 6//5
+f 6//6 5//6 1//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d880cdff54f480493cac468da2794aaef53c669c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-53.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o mesh47/mesh47-geometry#mesh47-geometry
+v 0.077336 0.682093 -0.024492
+v 0.084148 0.564728 -0.026601
+v 0.084148 0.682093 -0.026601
+v 0.077336 0.564728 -0.024492
+v 0.082135 0.682093 -0.033100
+v 0.075323 0.682093 -0.030991
+v 0.075323 0.564728 -0.030991
+v 0.082135 0.564728 -0.033100
+vn 0.29582293545469657 0 0.9552427915765532
+vn -0.29582293545469657 0 -0.9552427915765532
+vn 0.9552427915765532 0 -0.29582293545469657
+vn -0.9552427915765532 0 0.29582293545469657
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 1//4 7//4 4//4
+f 4//3 7//3 1//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 5//3 2//3 8//3
+f 8//4 2//4 5//4
+f 6//5 3//5 5//5
+f 5//6 3//6 6//6
+f 7//4 1//4 6//4
+f 6//3 1//3 7//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f8b2c9cb8d2a53029bbf7cbddb94b8817a104d6d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-54.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o mesh48/mesh48-geometry#mesh48-geometry
+v 0.078097 0.682093 0.012604
+v 0.085122 0.564728 0.013833
+v 0.085122 0.682093 0.013833
+v 0.078097 0.564728 0.012604
+v 0.086294 0.682093 0.007131
+v 0.079270 0.564728 0.005902
+v 0.086294 0.564728 0.007131
+v 0.079270 0.682093 0.005902
+vn -0.17236405519227202 0 0.9850333154151059
+vn 0.17236405519227202 0 -0.9850333154151059
+vn 0.9850333154151059 0 0.17236405519227202
+vn -0.9850333154151059 0 -0.17236405519227202
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
+f 4//6 7//6 2//6
+f 2//5 7//5 4//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 1//5 5//5 8//5
+f 8//6 5//6 1//6
+f 6//4 1//4 8//4
+f 8//3 1//3 6//3
+f 7//6 4//6 6//6
+f 6//5 4//5 7//5
+f 7//2 8//2 5//2
+f 5//1 8//1 7//1
+f 8//2 7//2 6//2
+f 6//1 7//1 8//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5ade66300d03dd65b98582305395864a67bdda2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-55.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o mesh49/mesh49-geometry#mesh49-geometry
+v 0.071961 0.564728 0.030250
+v 0.081213 0.564728 0.026853
+v 0.078501 0.564728 0.033093
+v 0.074673 0.564728 0.024010
+v 0.081213 0.682093 0.026853
+v 0.071961 0.682093 0.030250
+v 0.074673 0.682093 0.024010
+v 0.078501 0.682093 0.033093
+vn 0 -1 0
+vn 0 1 0
+vn 0.9171200808345088 0 0.3986110351333788
+vn -0.9171200808345088 0 -0.3986110351333788
+vn -0.3986110351333788 0 0.9171200808345088
+vn 0.3986110351333788 0 -0.9171200808345088
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 7//6 2//6 4//6
+f 4//5 2//5 7//5
+f 3//3 5//3 8//3
+f 8//4 5//4 3//4
+f 2//6 7//6 5//6
+f 5//5 7//5 2//5
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1
+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e9ebabbe861f5040c330bf2591732c9c0c6c84
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-56.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
+o mesh50/mesh50-geometry#mesh50-geometry
+v 0.067375 0.564728 0.038407
+v 0.076964 0.564728 0.036126
+v 0.073534 0.564728 0.042002
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+vn 0.5041419022456343 0 -0.8636208325417778
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dbec0a8898411cb6d0efd4977562908f508e6ab
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-57.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
+o mesh51/mesh51-geometry#mesh51-geometry
+v 0.061857 0.564728 0.045964
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3c1022735b13587997c3bf227699d8a14a3ac82
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-58.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
+o mesh52/mesh52-geometry#mesh52-geometry
+v 0.055486 0.564728 0.052818
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a366ea2d2b1fd0f55866215b2adb648b72982696
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-59.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
+o mesh53/mesh53-geometry#mesh53-geometry
+v 0.048349 0.564728 0.058870
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..873fa8b97316c7e4f69d8b5cd9d54204eab9a3c4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-6.obj
@@ -0,0 +1,1849 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Group3/mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da10d174cafd81de4eee71eb5635ce37ae1c2a7a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-60.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o mesh54/mesh54-geometry#mesh54-geometry
+v 0.040548 0.564728 0.064038
+v 0.050122 0.564728 0.066381
+v 0.044389 0.564728 0.070046
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+v 0.044389 0.682093 0.070046
+v 0.040548 0.682093 0.064038
+v 0.046280 0.682093 0.060373
+v 0.050122 0.682093 0.066381
+vn 0 -1 0
+vn 0 1 0
+vn 0.5386741296933538 0 0.8425142028471141
+vn -0.5386741296933538 0 -0.8425142028471141
+vn -0.8425142028471141 0 0.5386741296933538
+vn 0.8425142028471141 0 -0.5386741296933538
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 4//4 6//4 7//4
+f 7//3 6//3 4//3
+f 2//6 7//6 8//6
+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6a3f3726ddfbdb975bdd3c3c2bb1af884c27cbd
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-61.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
+o mesh55/mesh55-geometry#mesh55-geometry
+v 0.032191 0.564728 0.068248
+v 0.041421 0.564728 0.071705
+v 0.035296 0.564728 0.074668
+v 0.038316 0.564728 0.065285
+v 0.035296 0.682093 0.074668
+v 0.032191 0.682093 0.068248
+v 0.038316 0.682093 0.065285
+v 0.041421 0.682093 0.071705
+vn 0 -1 0
+vn 0 1 0
+vn 0.4353940015595813 0 0.9002400032246598
+vn -0.4353940015595813 0 -0.9002400032246598
+vn -0.9002400032246598 0 0.4353940015595813
+vn 0.9002400032246598 0 -0.4353940015595813
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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+f 6//4 4//4 1//4
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+f 7//3 6//3 4//3
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+f 8//5 7//5 2//5
+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b598628e1930f436ca45044eb24db6c3d229f15
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-62.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o mesh56/mesh56-geometry#mesh56-geometry
+v 0.023395 0.564728 0.071441
+v 0.032152 0.564728 0.075965
+v 0.025720 0.564728 0.078183
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+v 0.032152 0.682093 0.075965
+vn 0 -1 0
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+vn -0.945363193738026 0 0.32601906681272436
+vn 0.945363193738026 0 -0.32601906681272436
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e682445fe41417d36398a986f96ae2f91c8345f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-63.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o mesh57/mesh57-geometry#mesh57-geometry
+v 0.014283 0.564728 0.073573
+v 0.022445 0.564728 0.079099
+v 0.015796 0.564728 0.080542
+v 0.020932 0.564728 0.072130
+v 0.015796 0.682093 0.080542
+v 0.014283 0.682093 0.073573
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+v 0.022445 0.682093 0.079099
+vn 0 -1 0
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+vn -0.977252294199893 0 0.21208006384628866
+vn 0.977252294199893 0 -0.21208006384628866
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3b3ca8a079d7100085c57ecdaef55ca17e00fc1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-64.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o mesh58/mesh58-geometry#mesh58-geometry
+v 0.004984 0.564728 0.074614
+v 0.012436 0.564728 0.081066
+v 0.005663 0.564728 0.081713
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+v 0.012436 0.682093 0.081066
+vn 0 -1 0
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+vn -0.9954608446558587 0 0.09517198514817495
+vn 0.9954608446558587 0 -0.09517198514817495
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 8//2 6//2 5//2
+f 5//1 6//1 8//1
+f 6//2 8//2 7//2
+f 7//1 8//1 6//1
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9393da2b8e42672ed4def0b0c0d91c39b7328d2b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-65.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh59/mesh59-geometry#mesh59-geometry
+v -0.004538 0.564728 0.081679
+v 0.002429 0.564728 0.074707
+v 0.002264 0.564728 0.081836
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+v 0.002264 0.682093 0.081836
+vn 0 -1 0
+vn 0 1 0
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diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7d172d03a9d62d58a1694dcc2661a73f9682819
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101417/textured_objs/original-8.obj
@@ -0,0 +1,1987 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101442/bounding_box.json b/data/PartNet-Mobility/Dispenser/101442/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f3d84483637e5f3fbbc504a01db3a7e7fde86b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.334463, -0.614998, -0.338733], "max": [0.337127, 0.973673, 0.417387]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101442/meta.json b/data/PartNet-Mobility/Dispenser/101442/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8cc6226644a4c8753fba32cbe605c82191998f5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "2bbbe0e4-7f35-43a1-927c-d4c84e1af737", "version": "2", "anno_id": "1442", "time_in_sec": "234"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101442/mobility.urdf b/data/PartNet-Mobility/Dispenser/101442/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a183ad0bfa41b8654b374ef84a53f67bc6c8ee18
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/mobility.urdf
@@ -0,0 +1,163 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2bbbe0e4-7f35-43a1-927c-d4c84e1af737">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.001331836563654979 0 0.004593970516637859"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-6">
+			<origin xyz="-0.0013319789479081245 0 0.0045941254311977365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0013319789479081245 0 0.0045941254311977365"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-1.4238425314564568e-07 0 1.549145598770882e-07"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.09"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.0013319789479081245 0 -0.0045941254311977365"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101442/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101442/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a8588fb7e680b091f575db876c24d1dac290fd
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.001331836563654979,0,-0.004593970516637859],"direction":[0,1,0]},"limit":{"a":0,"b":-0.09,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[0.0013319789479081245,0,-0.0045941254311977365],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":7,"name":"outlier"}],"jointData":{}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":8,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101442/result.json b/data/PartNet-Mobility/Dispenser/101442/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f31bf2e0cd6b6cce8685c3931a8b46fd5c8a3e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-2", "original-3", "original-8", "original-9", "original-12", "original-11", "original-14"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-6"]}]}, {"text": "outlier", "name": "outlier", "id": 7, "objs": ["original-13"]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101442/result_original.json b/data/PartNet-Mobility/Dispenser/101442/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6483a1e07d58ceee19527491b057291e6eb129a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3", "original-8", "original-9", "original-12", "original-11", "original-14"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-6"]}]}, {"id": 7, "name": "outlier", "text": "outlier", "objs": ["original-13"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101442/semantics.txt b/data/PartNet-Mobility/Dispenser/101442/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.5019608
+Ns 30
+Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0818959b71f944d61c9ea57ba673c5bdf1416e83
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-1.obj
@@ -0,0 +1,5895 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db23b61052814241ac8e280b9b2fa8503c43a04
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-11.obj
@@ -0,0 +1,3565 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..293efe77bcf24a378df492c0759b3334a13a7961
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d16685613d72e1e40efc4327ad7b21f39a06778
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-13.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-13.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..36984d647c103928c6ba2c5141aadf8b789ce865
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12a0214cd17e796f3a5219b7082e692db4f75329
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..293efe77bcf24a378df492c0759b3334a13a7961
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..8b4bfdfc76994f20d4ee4b6dce6724cc44746f40
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..293efe77bcf24a378df492c0759b3334a13a7961
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e9d2b045b7b1ce04a497b225275d68edb1dc865
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43a9deefffc6890dc00062660311670ac65e5548
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-8.obj
@@ -0,0 +1,393 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID46
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-9.mtl
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index 0000000000000000000000000000000000000000..293efe77bcf24a378df492c0759b3334a13a7961
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diff --git a/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101442/textured_objs/original-9.obj
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+f 47//2 50//2 49//2
+f 49//2 50//2 51//2
+f 50//2 52//2 51//2
+f 51//2 52//2 53//2
+f 52//2 54//2 53//2
+f 54//2 55//2 53//2
+f 53//2 55//2 56//2
+f 56//2 55//2 57//2
+f 55//2 58//2 57//2
+f 58//2 59//2 57//2
+f 60//2 57//2 59//2
diff --git a/data/PartNet-Mobility/Dispenser/101458/bounding_box.json b/data/PartNet-Mobility/Dispenser/101458/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c299e6e1914d0352db2d0b2cdb7b51c83ebaaf5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.330116, -0.584059, -0.338902], "max": [0.347341, 0.994392, 0.338555]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101458/meta.json b/data/PartNet-Mobility/Dispenser/101458/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd43c739cc2c3802aeeae35cb59c05fc04061a0b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "2cb950b9-43d6-4d7d-8352-2f70c936dd6a", "version": "2", "anno_id": "1458", "time_in_sec": "98"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101458/mobility.urdf b/data/PartNet-Mobility/Dispenser/101458/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e6880d4aa52fa97a6084bd0a5467e47716860af5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/mobility.urdf
@@ -0,0 +1,211 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2cb950b9-43d6-4d7d-8352-2f70c936dd6a">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013220050530103724 0 0.00017385150868072866"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-6">
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.013219967587296749 0 0.00017342195729570277"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-8.294280697505874e-08 0 -4.295513850258864e-07"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.1"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.013219967587296749 0 -0.00017342195729570277"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101458/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101458/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5821bb29cec8f8d57f6f3ab4f68f70c2de43490
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.013220050530103724,0,-0.00017385150868072866],"direction":[0,1,0]},"limit":{"a":0,"b":-0.1,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":4,"name":"outlier"}],"jointData":{}},{"id":2,"parent":3,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[-0.013219967587296749,0,-0.00017342195729570277],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101458/result.json b/data/PartNet-Mobility/Dispenser/101458/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7519a9681ff158b0dcb34a9b1c8951d2e92a9526
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-12", "original-13", "original-14", "original-15"]}, {"text": "outlier", "name": "outlier", "id": 4, "objs": ["original-8"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-7", "original-9", "original-11", "original-10"]}]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-4", "original-3", "original-2", "original-5", "original-6", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101458/result_original.json b/data/PartNet-Mobility/Dispenser/101458/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bf2ff311bc0740e84e48fa92b9b05d63de34d7
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-12", "original-13", "original-14", "original-15"]}, {"id": 4, "name": "outlier", "text": "outlier", "objs": ["original-8"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-7", "original-9", "original-11", "original-10"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101458/semantics.txt b/data/PartNet-Mobility/Dispenser/101458/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd4b0e88835c0779d6e4e2ea5807257979fe1589
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-1.obj
@@ -0,0 +1,164 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o group_0/ID4#ID4
+v -0.329330 -0.584059 -0.056882
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5ee9e9032b48c2049b7afddb640cd55ed304da2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-10.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8defc8cafa2b0478bbe6930744a1bfac0e00fb6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-11.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d662c3b880ddba994e2ed0fa0524229e0a61a72
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-12.obj
@@ -0,0 +1,219 @@
+# SSTK version 0.8.0
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+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d78f14d5d736e17fb91e01aab8216f873bf661c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-13.obj
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+# SSTK version 0.8.0
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-15.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-15.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..67c8b145136d05add97cef36f51e03d2b7e31a8a
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f5d9a6db1a8b1b11ffc7efd43638839395d5d4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-2.obj
@@ -0,0 +1,164 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o group_1/ID13#ID13
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36d2b10684bb4b0a255657ac1a60b0febb46acd1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfc3bcfbd1fc208acf2c840d19ef9b7dab74a16e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-4.obj
@@ -0,0 +1,52 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c034eb4936a6e782ed5a964a675f7fe7c38a7ad
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-5.obj
@@ -0,0 +1,1765 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22acf26c4c8739dd4b6f771e095dd3a37e77c5bb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87553b182941aaeba41ea92166139bb528b5f81
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99d307b616105971aacdd0d0467b38e41cc0167
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63fc50749a11d04440bab69a2a2eed97a217ad87
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101458/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/bounding_box.json b/data/PartNet-Mobility/Dispenser/101463/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4e6700e4e01b1f04bf1af0fcce157d4d5c0463
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.316482, -0.569408, -0.35184], "max": [0.310859, 0.944461, 0.643377]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101463/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101463/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..22e274c9e29c6765557ab4e0bce403f534e9cf55
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2729ff2fff70765ceef6dff09aad9ef318dd2e8888832073b80e43f782cfbc8
+size 2658
diff --git a/data/PartNet-Mobility/Dispenser/101463/meta.json b/data/PartNet-Mobility/Dispenser/101463/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6242496338fb961e17c723bdda25bf9add12a2b9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "367a3f80-12b1-40f7-b343-6392b40a5c7e", "version": "1", "anno_id": "1463", "time_in_sec": "230"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101463/mobility.urdf b/data/PartNet-Mobility/Dispenser/101463/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1efd0942ab6b8f35a17b7f276f37c5c5657ca717
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/mobility.urdf
@@ -0,0 +1,256 @@
+<?xml version="1.0" ?>
+<robot name="partnet_367a3f80-12b1-40f7-b343-6392b40a5c7e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-4">
+			<origin xyz="-0.054335210662534994 -0.7280239403027942 -0.2844975986585483"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.054335210662534994 -0.7280239403027942 -0.2844975986585483"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.05714642874848952 0.7280239403027942 0.32266725236327254"/>
+		<axis xyz="0.9997009157424566 -3.9607804391885446e-05 0.024455622971320944"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0.0" upper="0.7853981633974483"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-8">
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0028112180859545255 0 0.03816965370472426"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="nose-7">
+			<origin xyz="-0.001064310873449038 -0.6874159502580207 0.2032395897504295"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.001064310873449038 -0.6874159502580207 0.2032395897504295"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="continuous">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="-0.023442337233413404 0.2834804731176681 0.9586914405511391"/>
+		<child link="link_2"/>
+		<parent link="link_2_helper"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.0028112180859545255 0 -0.03816965370472426"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_2_helper"/>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.0038755289594035636 0.6874159502580207 -0.16506993604570525"/>
+		<axis xyz="-0.023442337233413404 0.2834804731176681 0.9586914405511391"/>
+		<child link="link_2_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0040000000000000036" upper="0"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101463/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101463/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..e59abdabc57da37b26f9c83577a721115c75e2c5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"handle","parts":[{"id":4,"name":"handle"}],"jointData":{"axis":{"origin":[0.054335210662534994,0.7280239403027942,0.2844975986585483],"direction":[0.9997009157424566,-0.000039607804391885446,0.024455622971320944]},"limit":{"a":0,"b":45,"noLimit":false}}},{"id":1,"parent":3,"joint":"slider","name":"head","parts":[{"id":8,"name":"head"}],"jointData":{"axis":{"origin":[-0.0028112180859545255,0,-0.03816965370472426],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":1,"joint":"slider","name":"nose","parts":[{"id":7,"name":"nose"}],"jointData":{"axis":{"origin":[0.001064310873449038,0.6874159502580207,-0.2032395897504295],"direction":[-0.023442337233413404,0.2834804731176681,0.9586914405511391]},"limit":{"a":-0.0040000000000000036,"b":0,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":9,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101463/result.json b/data/PartNet-Mobility/Dispenser/101463/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b330e5edb5ec7de13ae8d07ab98ce6515b2209c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 4, "objs": ["original-20"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 8, "objs": ["original-19", "original-12", "original-17", "original-13", "original-10", "original-11", "original-9", "original-14", "original-8", "original-1", "original-4", "original-6"]}]}, {"text": "nose (other)", "name": "other", "id": 6, "children": [{"text": "other_leaf", "name": "nose", "id": 7, "objs": ["original-16"]}]}, {"text": "base_body", "name": "base_body", "id": 9, "objs": ["original-3", "original-2", "original-5"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101463/result_original.json b/data/PartNet-Mobility/Dispenser/101463/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf88e633892beef24d2d5ae6979ee01d48df85ec
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "handle", "text": "handle", "objs": ["original-20"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 8, "name": "other_leaf", "text": "other_leaf", "objs": ["original-19", "original-12", "original-17", "original-13", "original-10", "original-11", "original-9", "original-14", "original-8", "original-1", "original-4", "original-6"]}]}, {"id": 6, "name": "other", "text": "nose (other)", "children": [{"id": 7, "name": "other_leaf", "text": "other_leaf", "objs": ["original-16"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101463/semantics.txt b/data/PartNet-Mobility/Dispenser/101463/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..baa50a59c90fbd697d6564feb1bce57ecf6b6c64
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge handle
+link_1 slider+ lid
+link_2 slider+ lid
+link_3 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00ad4b20c1378b8844bd26a068231bc629f169cf
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8823529411764706 0.9058823529411765 0.8627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.8784313725490196 0.8784313725490196 0.7803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cf02e2d5ed274a9d7cd8c04b9fd9495c8fd0df1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-1.obj
@@ -0,0 +1,5092 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID93
+v 0.120034 0.475200 -0.067889
+v 0.118991 0.472147 -0.035193
+v 0.123540 0.475200 -0.035082
+v 0.115611 0.472147 -0.066819
+v 0.115611 0.472147 -0.066819
+v 0.120034 0.475200 -0.067889
+v 0.118991 0.472147 -0.035193
+v 0.123540 0.475200 -0.035082
+v 0.108156 0.475200 -0.098671
+v 0.104161 0.472147 -0.096493
+v 0.104161 0.472147 -0.096493
+v 0.108156 0.475200 -0.098671
+v 0.114803 0.468613 -0.035295
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+v 0.111540 0.468613 -0.065834
+v 0.114803 0.468613 -0.035295
+v 0.118436 0.475200 -0.002485
+v 0.114070 0.472147 -0.003770
+v 0.114070 0.472147 -0.003770
+v 0.118436 0.475200 -0.002485
+v 0.123540 0.475200 -0.035082
+v 0.119244 0.497402 -0.067698
+v 0.120034 0.475200 -0.067889
+v 0.122727 0.497402 -0.035102
+v 0.122727 0.497402 -0.035102
+v 0.123540 0.475200 -0.035082
+v 0.119244 0.497402 -0.067698
+v 0.120034 0.475200 -0.067889
+v 0.088716 0.475200 -0.125330
+v 0.085421 0.472147 -0.122192
+v 0.085421 0.472147 -0.122192
+v 0.088716 0.475200 -0.125330
+v 0.100483 0.468613 -0.094488
+v 0.100483 0.468613 -0.094488
+v 0.107442 0.497402 -0.098282
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+v 0.107442 0.497402 -0.098282
+v 0.108156 0.475200 -0.098671
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+v 0.110052 0.468613 -0.004952
+v 0.110052 0.468613 -0.004952
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+v 0.118436 0.475200 -0.002485
+v 0.117656 0.497402 -0.002714
+v 0.117656 0.497402 -0.002714
+v 0.118436 0.475200 -0.002485
+v 0.117105 0.519452 -0.067180
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+v 0.063039 0.475200 -0.146049
+v 0.082387 0.468613 -0.119303
+v 0.082387 0.468613 -0.119303
+v 0.088127 0.497402 -0.124769
+v 0.088716 0.475200 -0.125330
+v 0.088127 0.497402 -0.124769
+v 0.088716 0.475200 -0.125330
+v 0.097167 0.464642 -0.092680
+v 0.097167 0.464642 -0.092680
+v 0.105510 0.519452 -0.097228
+v 0.105510 0.519452 -0.097228
+v 0.104643 0.460282 -0.064166
+v 0.107710 0.460282 -0.035469
+v 0.107710 0.460282 -0.035469
+v 0.104643 0.460282 -0.064166
+v 0.106429 0.464642 -0.006019
+v 0.106429 0.464642 -0.006019
+v 0.097609 0.468613 0.023127
+v 0.097609 0.468613 0.023127
+v 0.084349 0.475200 0.053358
+v 0.081211 0.472147 0.050063
+v 0.081211 0.472147 0.050063
+v 0.084349 0.475200 0.053358
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+v 0.105068 0.475200 0.027680
+v 0.104374 0.497402 0.027257
+v 0.115544 0.519452 -0.003336
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..336395be020e83618e7fa235ad0ffa78161bbb78
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a4d8acc30b241eaf862e33ebd3fd64565f3a410
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..336395be020e83618e7fa235ad0ffa78161bbb78
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aed8faa8cf956e721a053fb07c792a94cf0c31f5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-14.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..336395be020e83618e7fa235ad0ffa78161bbb78
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-14.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43d28e56e4cd53c2bf5abdccaf358bca3a22fe8b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-16.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-16.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-16.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d206b4f84875f94b4686ef7de776a18b988dfed
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-17.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..336395be020e83618e7fa235ad0ffa78161bbb78
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-17.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-17.obj
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index 0000000000000000000000000000000000000000..3c78bba5cc31707adaac2ec05e370e01636f05ac
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-19.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00ad4b20c1378b8844bd26a068231bc629f169cf
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index 0000000000000000000000000000000000000000..f723f5808ab46c84c7105f86a384f4134c4caf3d
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..336395be020e83618e7fa235ad0ffa78161bbb78
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.8823529411764706 0.9058823529411765 0.8627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a9362b0c61fb57e2ad8df8a944462937564db9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00ad4b20c1378b8844bd26a068231bc629f169cf
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00ad4b20c1378b8844bd26a068231bc629f169cf
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..79d5ad904f88a8a7dba0c9413f498c970ae4f7f0
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00ad4b20c1378b8844bd26a068231bc629f169cf
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101463/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc7c3150d87aa0f6b6eb932e502e73244f3d01f
--- /dev/null
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index 0000000000000000000000000000000000000000..8a630c42c79e13b22d1e3abfab6c4d37051c65ec
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diff --git a/data/PartNet-Mobility/Dispenser/101489/bounding_box.json b/data/PartNet-Mobility/Dispenser/101489/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..882046c1005b9a91a839ee18dd95d4123da4f13c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.48418, -0.23101, -0.906958], "max": [0.461523, 0.436771, 0.849348]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101489/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101489/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..29eb68274232e8e3a36a6cceeb397b259ce499b6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09df27b7f83ce189ebe429fcebcb3fec5241be7b5ee00d53a4ca8c467efe7ef7
+size 2708
diff --git a/data/PartNet-Mobility/Dispenser/101489/meta.json b/data/PartNet-Mobility/Dispenser/101489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd95aa9d2940f2021d789fb1a77c4cfd6609140
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5534ce8e-edeb-4f50-bc23-d31b210139e3", "version": "1", "anno_id": "1489", "time_in_sec": "22"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101489/mobility.urdf b/data/PartNet-Mobility/Dispenser/101489/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..98265df4bbef1264a59aecd3626064b6e5c2a3da
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/mobility.urdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5534ce8e-edeb-4f50-bc23-d31b210139e3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0 -0.0 -0.0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="-0.0 -1.0 -0.0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.07"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101489/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101489/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..783ea8fcdfa3d9d9ac8e18a20e9d59f1c03d61b8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "pressing_lid", "parts": [{"id": 1, "name": "pressing_lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": -0.07, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101489/result.json b/data/PartNet-Mobility/Dispenser/101489/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..857c3ae44172d714008996a842491ace6d77936e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-9", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101489/result_original.json b/data/PartNet-Mobility/Dispenser/101489/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c596b774e8a58510a0b7231eb5f6da4450f35c7
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101489/semantics.txt b/data/PartNet-Mobility/Dispenser/101489/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4b21c7a63f572779c25d9ffdf5f845ad8f35f61
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider pressing_lid
+link_1 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc830b40c6122ab4b81e47a6d1a25ae4b1c20fe4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-2.obj
@@ -0,0 +1,1291 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o #ID6
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
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index 0000000000000000000000000000000000000000..c19a9b93e3aa9ea01cba9baa9f1260477b5b5fea
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b27c4504b9395c86ee668c63919be779d225ed6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ce207b3448e6b20d089199642aa5ef1607604c8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-8.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-9.mtl
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index 0000000000000000000000000000000000000000..b64cef41fcf170c8d41768f4ef3bbb985e2807fe
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diff --git a/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101489/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81bbbf05388e0dbd64c5493b03caaf884d968b15
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101490/bounding_box.json b/data/PartNet-Mobility/Dispenser/101490/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..775a56f3a419b53212c9c8431afeda67086cc94e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.355455, -0.731782, -0.360405], "max": [0.337945, 0.975877, 0.409043]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101490/meta.json b/data/PartNet-Mobility/Dispenser/101490/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f581da7188a2568beb614d5ba12cb566605ba2e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5ca994bd512be485db3bac7ad77ae88e", "version": "1", "anno_id": "1490", "time_in_sec": "342"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101490/mobility.urdf b/data/PartNet-Mobility/Dispenser/101490/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..402c4178b512d59e62572000469bc367e764689a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/mobility.urdf
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5ca994bd512be485db3bac7ad77ae88e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.008755063991076967 0 0.01370572210229435"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.008755063991076967 0 -0.01370572210229435"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.0960000000000001"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101490/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101490/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..89089cf15236e096abf7973ca0a3b1793f0f65d1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "pressing_lid", "parts": [{"id": 4, "name": "pressing_lid"}], "jointData": {"axis": {"origin": [-0.008755063991076967, 0, -0.01370572210229435], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.0960000000000001, "noLimit": false, "rotates": true, "noRotationLimit": true, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 5, "name": "base_body"}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101490/result.json b/data/PartNet-Mobility/Dispenser/101490/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cbcdd0f8437c0e283a77372d471e3409bfcc5db
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-2", "original-3", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101490/result_original.json b/data/PartNet-Mobility/Dispenser/101490/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9036cca48b52ca61da71f632c63438cdade935
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3", "original-4"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101490/semantics.txt b/data/PartNet-Mobility/Dispenser/101490/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c914f53224d931ff8f7d22fdbff20f86bd82ea31
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ lid
+link_1 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9e0613d4e3921e4176f10b60f691184b6810434
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.mtl
@@ -0,0 +1,35 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 4
+d 0.95
+Ns 30
+Kd 0.43137254901960786 0.5647058823529412 0.6470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_3_0
+illum 4
+d 0.47
+Ns 30
+Kd 1 0.6 0.6 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_4_0
+illum 4
+d 0.95
+Ns 30
+Kd 1 0.7647058823529411 0.7647058823529411 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c12c8ff3d3d1769ccc6c38781929fd28b61ece9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-1.obj
@@ -0,0 +1,7128 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab152f280036e7297a5fb65433bf46fe2335e5af
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.95
+Ns 30
+Kd 0.43137254901960786 0.5647058823529412 0.6470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f9c18cdca4faa090f500d99e51ba4b6532eec7
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-2.obj
@@ -0,0 +1,634 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab152f280036e7297a5fb65433bf46fe2335e5af
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.95
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab4dd6ea5171cb9349b413cd99035eec5af56c23
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-3.obj
@@ -0,0 +1,228 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab152f280036e7297a5fb65433bf46fe2335e5af
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.95
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b66c897a0472837ff16c7d5a4cbfad1124af764
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101490/textured_objs/original-4.obj
@@ -0,0 +1,86 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101501/bounding_box.json b/data/PartNet-Mobility/Dispenser/101501/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..93747ec2cf3b31602fa67eba2958aaedeca2aa5a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.392579, -0.672754, -0.400171], "max": [0.388206, 0.907162, 0.666453]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101501/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101501/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/Dispenser/101501/meta.json b/data/PartNet-Mobility/Dispenser/101501/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..474e13cc2f7ffd686bd895dc50e596edd4558140
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5d80c1b5-bbcc-4066-9103-2460992ace27", "version": "1", "anno_id": "1501", "time_in_sec": "94"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101501/mobility.urdf b/data/PartNet-Mobility/Dispenser/101501/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca241337609d89c70389cc3980859b9547a909c8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/mobility.urdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" ?>
+<robot name="partnet_5d80c1b5-bbcc-4066-9103-2460992ace27">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.002186500000000001 0 0.009778999997167189"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="0.0016189564690488947 0 0.009924500000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0016189564690488947 0 0.009924500000000003"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.0005675435309511062 0 0.00014550000283281364"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.17"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.0016189564690488947 0 -0.009924500000000003"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.19999999999999996"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101501/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101501/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0afe1251cb9231cef8d71dfc82bc8116079bb32c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.002186500000000001,0,-0.009778999997167189],"direction":[0,1,0]},"limit":{"a":0,"b":-0.17,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[-0.0016189564690488947,0,-0.009924500000000003],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.19999999999999996,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101501/result.json b/data/PartNet-Mobility/Dispenser/101501/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d1027e36873662fcc3bcc6a126c0597404a6382
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-8", "original-6"], "conf_score": "5"}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-7"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-4", "original-3", "original-9", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101501/result_original.json b/data/PartNet-Mobility/Dispenser/101501/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8e27860b9fe1d374cfd2a840be1291f6de9898f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-8", "original-6"], "conf_score": "5"}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-7"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101501/semantics.txt b/data/PartNet-Mobility/Dispenser/101501/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.5019608
+Ns 30
+Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aad45d50f14f157cb6fefed2c04bc25b2afe6cf
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-1.obj
@@ -0,0 +1,143 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID5
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diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25652bdd67fbea9439bc05faedda391563bf1d0a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-2.obj
@@ -0,0 +1,195 @@
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+# 2
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index 0000000000000000000000000000000000000000..d162bf58f09353d4caad73b2daa1c0db989d3fa4
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diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-8.obj
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new file mode 100644
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+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9568914bd8b50466436a23e0ceb66a4dc9efa6e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101501/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101507/bounding_box.json b/data/PartNet-Mobility/Dispenser/101507/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..64fe1fe7f7d9cb8c9592ce5f31dba4160238b182
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.305993, -0.682958, -0.297796], "max": [0.296162, 0.973195, 0.38015]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101507/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101507/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b4fdaf71a89701abec017a044d448ee3a179dafa
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce7c66a4f0efca9b7362ff73aab661fa8bcfd6bd1965fe32c8767f7904db7c04
+size 781140
diff --git a/data/PartNet-Mobility/Dispenser/101507/meta.json b/data/PartNet-Mobility/Dispenser/101507/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b504158bb50b2dc1be3980a691e4303920249c7
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "61c16fac-185c-4b11-8627-0ff5da2e6bb1", "version": "1", "anno_id": "1507", "time_in_sec": "23"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101507/mobility.urdf b/data/PartNet-Mobility/Dispenser/101507/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e67a75d76445066b836e4a732d12843b9ea9bfbc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/mobility.urdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" ?>
+<robot name="partnet_61c16fac-185c-4b11-8627-0ff5da2e6bb1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.004915323790161703 0 -0.0017971651621122332"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="0.004915327197033692 0 -0.0017972638984641576"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004915327197033692 0 -0.0017972638984641576"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="3.406871989380944e-09 0 -9.873635192433894e-08"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.08"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="-0.004915327197033692 0 0.0017972638984641576"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101507/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101507/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5c0efd2b20191cc4974eff0c3c5ce83c2a80482
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.004915323790161703,0,0.0017971651621122332],"direction":[0,1,0]},"limit":{"a":0,"b":-0.08,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[-0.004915327197033692,0,0.0017972638984641576],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101507/result.json b/data/PartNet-Mobility/Dispenser/101507/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b87656c7728967bc8bd3f3fe2464c8bb44a5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-6", "original-8", "original-11", "original-10"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-7"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-4", "original-5", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101507/result_original.json b/data/PartNet-Mobility/Dispenser/101507/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3517f0bd6ae60d9949bb4de5fc5b7849a2b881e5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-6", "original-8", "original-11", "original-10"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-7"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101507/semantics.txt b/data/PartNet-Mobility/Dispenser/101507/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..161b33ede75cef20ba4bab11d26e8b807930b212
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8313725490196079 0.8313725490196079 0.8313725490196079 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29c0e427bd2e47e7c06fad0bcd7ac14af54c838
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-1.obj
@@ -0,0 +1,5891 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..906717a6f4057cfb94aa0dacc9da9fd237c0aa1b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-10.obj
@@ -0,0 +1,3561 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c04c023dfb3e8f89b15e99adc580f951a2e051d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fec561eb6f24d96f602d5edb57c1a77667a3c6cb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-2.obj
@@ -0,0 +1,2947 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8526404271962e22ddd83a51da7249724229c0a7
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-7.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-7.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39b7c60067f0cfdbd1f075879e008707975170e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.40784313725490196 0.40784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62b7dc0efcce9d2d2d2a63e0df079af57690dd83
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101507/textured_objs/original-8.obj
@@ -0,0 +1,509 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="pressing_lid-2">
+			<origin xyz="-0.0003029999999999977 0 0.014980500000000008"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-3">
+			<origin xyz="-0.0003029999999999977 0 0.014980500000000008"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0003029999999999977 0 0.014980500000000008"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.0003029999999999977 0 0.014980500000000008"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.0003029999999999977 0 -0.014980500000000008"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.04800000000000004"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101517/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101517/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2f6bd16cdf6d589b5ca93e9bfa08bc9e9dc86c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"pressing_lid","parts":[{"id":2,"name":"pressing_lid","children":[]},{"id":3,"name":"outlier","children":[]}],"jointData":{"axis":{"origin":[0.0003029999999999977,0,-0.014980500000000008],"direction":[0,1,0]},"limit":{"a":0,"b":-0.04800000000000004,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101517/result.json b/data/PartNet-Mobility/Dispenser/101517/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..58aa4248579cf94368ef31bb7d7604f181fc7902
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 2, "objs": ["original-3"]}, {"text": "outlier", "name": "outlier", "id": 3, "objs": ["original-4"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101517/result_original.json b/data/PartNet-Mobility/Dispenser/101517/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df73ed92ea575c99d754292c9df09765ba31f05
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 2, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-3"]}, {"id": 3, "name": "outlier", "text": "outlier", "objs": ["original-4"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101517/semantics.txt b/data/PartNet-Mobility/Dispenser/101517/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6973665b80cfa20769b122a232e5b13271c31081
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/semantics.txt
@@ -0,0 +1,2 @@
+link_0 free dispenser_body
+link_1 slider+ lid
diff --git a/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb7bd28fd761509af64ee0fbf557dee46833465c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-1.obj
@@ -0,0 +1,431 @@
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+# 1
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diff --git a/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7694074a6efa7d8891c3e40e45a2efb3631d982c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101517/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/bounding_box.json b/data/PartNet-Mobility/Dispenser/101520/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4881d67c5b60578e98b56c3abd213a03c321c12
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.858868, -0.321602, -0.481356], "max": [0.805839, 0.744603, 0.501614]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101520/meta.json b/data/PartNet-Mobility/Dispenser/101520/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c00e8e6b4c394082ac40a0451ee9f688ef3450f1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "7d808a72d38c7fd450da8b99982a3057", "version": "2", "anno_id": "1520", "time_in_sec": "236"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101520/mobility.urdf b/data/PartNet-Mobility/Dispenser/101520/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fbc74d99fdfeb9944e4da0bff007ea00ebda7da0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/mobility.urdf
@@ -0,0 +1,1527 @@
+<?xml version="1.0" ?>
+<robot name="partnet_7d808a72d38c7fd450da8b99982a3057">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0265145 0 -0.2320895"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="base_body-8">
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+			<geometry>
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+			<geometry>
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+		<visual name="base_body-8">
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+			<geometry>
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+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.0265145 0 0.2320895"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.08000000000000007"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101520/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101520/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eac139018ee1f5ea2901cda8012bef678fcd71a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"pressing_lid","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.0265145,0,0.2320895],"direction":[0,1,0]},"limit":{"a":0,"b":-0.08000000000000007,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":7,"name":"outlier"}],"jointData":{}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":6,"name":"button"},{"id":8,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101520/result.json b/data/PartNet-Mobility/Dispenser/101520/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8d35fbf4f2f11f7b0a059e86f0726d02536015d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-17", "original-16", "original-80", "original-115", "original-12", "original-77", "original-116", "original-9", "original-83", "original-6", "original-92", "original-1", "original-119", "original-91", "original-2", "original-95", "original-93", "original-11", "original-117", "original-10", "original-79", "original-78", "original-81", "original-8"]}, {"text": "button (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "button", "id": 6, "objs": ["original-120", "original-3", "original-86"]}]}, {"text": "outlier", "name": "outlier", "id": 7, "objs": ["original-127"]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-103", "original-100", "original-123", "original-21", "original-30", "original-36", "original-126", "original-41", "original-28", "original-124", "original-96", "original-64", "original-43", "original-71", "original-52", "original-22", "original-26", "original-110", "original-107", "original-104", "original-4", "original-128", "original-65", "original-33", "original-44", "original-112", "original-106", "original-109", "original-13", "original-125", "original-45", "original-35", "original-49", "original-61", "original-39", "original-59", "original-5", "original-114", "original-54", "original-63", "original-27", "original-51", "original-55", "original-113", "original-50", "original-111", "original-31", "original-37", "original-48", "original-15", "original-85", "original-122", "original-56", "original-76", "original-108", "original-72", "original-99", "original-62", "original-75", "original-23", "original-66", "original-58", "original-98", "original-67", "original-69", "original-38", "original-68", "original-34", "original-18", "original-70", "original-74", "original-118", "original-25", "original-73", "original-42", "original-102", "original-24", "original-20", "original-88", "original-32", "original-47", "original-53", "original-7", "original-105", "original-101", "original-84", "original-121", "original-97", "original-89", "original-14", "original-82", "original-60", "original-19", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101520/result_original.json b/data/PartNet-Mobility/Dispenser/101520/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..855c9e933c41b8c390bd00b67cd9bd012ca5f2e5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-17", "original-16", "original-80", "original-115", "original-12", "original-77", "original-116", "original-9", "original-83", "original-6", "original-92", "original-1", "original-119", "original-91", "original-2", "original-95", "original-93", "original-11", "original-117", "original-10", "original-79", "original-78", "original-81", "original-8"]}, {"id": 5, "name": "other", "text": "button (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-120", "original-3", "original-86"]}]}, {"id": 7, "name": "outlier", "text": "outlier", "objs": ["original-127"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101520/semantics.txt b/data/PartNet-Mobility/Dispenser/101520/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c914f53224d931ff8f7d22fdbff20f86bd82ea31
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ lid
+link_1 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7ac38a9190ae74789dc4897151573bb6127e743
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-1.obj
@@ -0,0 +1,291 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e88e6ece1613299b6c03621dad0c50e6ca098c8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4c70cd6a7be10af0de6a8b7a49ff545f47facd
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-100.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o mesh98/mesh98-geometry#mesh98-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96623f8fcfe1c8ae8b5223931e28ac3cb260631b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-101.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o mesh99/mesh99-geometry#mesh99-geometry
+v 0.667113 -0.17981 0.446123
+v -0.720143 -0.17981 0.446123
+v -0.720143 0.193665 0.446123
+v 0.667113 0.193665 0.446123
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9a20947e6b1ab34bcb767ed1d3a5b144b374681
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-102.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o mesh100/mesh100-geometry#mesh100-geometry
+v 0.746385 -0.17981 0.366852
+v 0.746385 0.193665 -0.346594
+v 0.746385 -0.17981 -0.346594
+v 0.746385 0.193665 0.366852
+vn -1.0 0.0 0.0
+vn 1.0 0.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07f0bf4acc68f7f37e059a7ff84592717cc86f7c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-103.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o mesh101/mesh101-geometry#mesh101-geometry
+v -0.720143 -0.22329 -0.461538
+v 0.667113 -0.214136 -0.445684
+v -0.720143 -0.214136 -0.445684
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+vn 0.0 -0.8660253028382763 0.5000001748438415
+vn 0.0 0.8660253028382763 -0.5000001748438415
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..97f31e5ae22019a210385c41cb8fb622c613a788
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-104.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o mesh102/mesh102-geometry#mesh102-geometry
+v -0.819232 -0.214136 -0.346594
+v -0.819232 -0.214136 0.366852
+v -0.83905 -0.225578 0.366852
+v -0.83905 -0.225578 -0.346594
+vn 0.5000001748438417 -0.8660253028382762 0.0
+vn -0.5000001748438417 0.8660253028382762 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfb697bae72fc1e806e1992ca7f1a0c08d921890
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-105.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 105
+mtllib original-105.mtl
+o mesh103/mesh103-geometry#mesh103-geometry
+v -0.720143 -0.214136 0.465941
+v 0.667113 -0.22329 0.481796
+v -0.720143 -0.22329 0.481796
+v 0.667113 -0.214136 0.465941
+vn 0.0 -0.8660253028382761 -0.500000174843842
+vn 0.0 0.8660253028382761 0.500000174843842
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8180edd63615b670fdd9ebfdf52ed762b3202d49
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-106.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 106
+mtllib original-106.mtl
+o mesh104/mesh104-geometry#mesh104-geometry
+v 0.786021 -0.225578 -0.346594
+v 0.786021 -0.225578 0.366852
+v 0.766203 -0.214136 0.366852
+v 0.766203 -0.214136 -0.346594
+vn -0.5000001748438417 -0.8660253028382762 0.0
+vn 0.5000001748438417 0.8660253028382762 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..128101666f38993163a980b4d4bb2d1ccf89d7c3
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-107.obj
@@ -0,0 +1,272 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
+o mesh105/mesh105-geometry#mesh105-geometry
+v -0.779596 -0.321602 -0.481356
+v -0.026515 -0.321602 -0.465502
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c16cede4f721bcc4a301acfa32b89e5bbdc9312
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-108.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
+o mesh106/mesh106-geometry#mesh106-geometry
+v -0.858868 -0.268263 -0.402085
+v -0.858868 -0.263795 -0.383757
+v -0.858868 -0.259904 -0.346594
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+v -0.858868 -0.260914 0.385553
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+v -0.858868 -0.308267 0.422342
+v -0.858868 -0.321602 0.422342
+vn 1.0 0.0 0.0
+vn -1.0 0.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 2//1 4//1 3//1
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+f 6//1 5//1 7//1
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+f 8//1 1//1 6//1
+f 6//2 1//2 8//2
+f 7//1 5//1 9//1
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+f 13//1 15//1 16//1
+f 16//2 15//2 13//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75e6ae135fc01bdde759fd44477bbbdf7dc2ad15
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-109.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 109
+mtllib original-109.mtl
+o mesh107/mesh107-geometry#mesh107-geometry
+v 0.726567 -0.26746 -0.481356
+v 0.320299 -0.257615 -0.481356
+v 0.726567 -0.321602 -0.481356
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+v 0.667113 -0.257615 -0.481356
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+v -0.373329 -0.257615 -0.481356
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+v -0.779596 -0.308066 -0.481356
+v -0.779596 -0.26746 -0.481356
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+v -0.75024 -0.260299 -0.481356
+vn 0.0 0.0 1.0
+vn 0.0 0.0 -1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
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+f 4//1 6//1 2//1
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+f 7//2 8//2 5//2
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+f 7//1 12//1 14//1
+f 14//2 12//2 7//2
+f 9//1 15//1 13//1
+f 13//2 15//2 9//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f69ad0dced92f9f8f775df492b5f12a21003e444
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-11.obj
@@ -0,0 +1,146 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Group11/mesh11/mesh11-geometry#mesh11-geometry
+v 0.036714 0.744441 0.205744
+v 0.040954 0.743969 0.23209
+v 0.041449 0.744241 0.23209
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+vn 0.28072293999898695 -0.9597847948580192 -0.0027889994038865157
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+vn -0.3730108645288198 -0.9112226690594776 -0.17474593653525827
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+vn 0.17428101914555527 -0.9846411081672626 0.010393001141717787
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+f 9//18 7//14 1//6
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+f 11//21 6//11 8//15
+f 8//16 6//12 11//22
+f 1//1 9//17 12//23
+f 12//24 9//18 1//6
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+f 13//25 10//19 8//15
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+f 14//27 8//15 11//21
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+f 22//43 26//51 27//53
+f 27//54 26//52 22//44
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..192ff99a029dce294b08231dc490cca8fdeb7368
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-110.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 110
+mtllib original-110.mtl
+o mesh108/mesh108-geometry#mesh108-geometry
+v -0.843014 -0.321602 0.406487
+v -0.843014 -0.262148 0.406487
+v -0.843014 -0.321602 -0.38623
+v -0.843014 -0.262148 -0.38623
+vn -1.0 0.0 0.0
+vn 1.0 0.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..857162775ec882d82249e3723a440d35bde35cf1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-111.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 111
+mtllib original-111.mtl
+o mesh109/mesh109-geometry#mesh109-geometry
+v 0.710713 -0.262148 0.485759
+v -0.763742 -0.262148 0.485759
+v -0.763742 -0.321602 0.485759
+v 0.710713 -0.321602 0.485759
+vn 0.0 0.0 1.0
+vn 0.0 0.0 -1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 1//1 3//1
+f 3//2 1//2 4//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc1465875835c636aa2f6b6ada0fa6aa5ee5505e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-112.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 112
+mtllib original-112.mtl
+o mesh110/mesh110-geometry#mesh110-geometry
+v 0.789984 -0.321602 0.406487
+v 0.789984 -0.262148 -0.38623
+v 0.789984 -0.262148 0.406487
+v 0.789984 -0.321602 -0.38623
+vn 1.0 0.0 0.0
+vn -1.0 0.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de72404fedb65bb32048a753cd3ba78abaf0ead4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-113.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 113
+mtllib original-113.mtl
+o mesh111/mesh111-geometry#mesh111-geometry
+v 0.710713 -0.321602 -0.465502
+v -0.763742 -0.321602 -0.465502
+v -0.763742 -0.262148 -0.465502
+v 0.710713 -0.262148 -0.465502
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e843d9c53bd6e7d0e8819d33e3bc91c023c1b3da
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-114.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 114
+mtllib original-114.mtl
+o mesh112/mesh112-geometry#mesh112-geometry
+v -0.763742 -0.24233 -0.445684
+v 0.770167 -0.24233 -0.38623
+v 0.710713 -0.24233 -0.445684
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+v -0.815232 -0.24233 0.436212
+v 0.762203 -0.24233 0.436212
+v -0.793467 -0.24233 0.457978
+v 0.740437 -0.24233 0.457978
+vn 0.0 1.0 0.0
+vn 0.0 -1.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46f1fafeb5872bb0ac4a2af41b1073fe07c2fc1b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-115.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 115
+mtllib original-115.mtl
+o mesh113/mesh113-geometry#mesh113-geometry
+v -0.026515 0.728749 0.216235
+v -0.029608 0.728749 0.21654
+v -0.020447 0.728749 0.217442
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+v -0.032582 0.728749 0.246737
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+usemtl material_0_0
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+f 27//1 32//1 31//1
+f 31//2 32//2 27//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37b73f5a435fa1e2393388736c82724f8e1cb796
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-116.obj
@@ -0,0 +1,211 @@
+# SSTK version 0.8.0
+# 116
+mtllib original-116.mtl
+o mesh114/mesh114-geometry#mesh114-geometry
+v -0.026515 0.744603 0.160349
+v -0.040511 0.744603 0.161727
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdd253754862e9a77157ff20fba48a602468925f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-117.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 117
+mtllib original-117.mtl
+o mesh115/mesh115-geometry#mesh115-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9ec72cccfe265dd489cc2f3cbb1cfcfc89f0e6
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-118.obj
@@ -0,0 +1,271 @@
+# SSTK version 0.8.0
+# 118
+mtllib original-118.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1ce5662948a08a9035180e14171cbe64cf9bc4d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-119.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 119
+mtllib original-119.mtl
+o mesh117/mesh117-geometry#mesh117-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae6c5cec210dc736dec513993bd1c58a04386715
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-12.obj
@@ -0,0 +1,161 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o Group12/mesh12/mesh12-geometry#mesh12-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b5a539686c366842810a164cdb77483657646a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-120.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 120
+mtllib original-120.mtl
+o mesh118/mesh118-geometry#mesh118-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9621470564ea8cd590bb7180f28016869ade4fb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-121.obj
@@ -0,0 +1,126 @@
+# SSTK version 0.8.0
+# 121
+mtllib original-121.mtl
+o mesh119/mesh119-geometry#mesh119-geometry
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+f 1//3 13//3 9//3
+f 9//4 13//4 1//4
+f 10//3 14//3 6//3
+f 6//4 14//4 10//4
+f 4//5 15//5 11//5
+f 11//6 15//6 4//6
+f 16//5 6//5 12//5
+f 12//6 6//6 16//6
+f 10//3 17//3 14//3
+f 14//4 17//4 10//4
+f 14//5 6//5 16//5
+f 16//6 6//6 14//6
+f 15//5 2//5 11//5
+f 11//6 2//6 15//6
+f 18//5 14//5 16//5
+f 16//6 14//6 18//6
+f 11//5 2//5 19//5
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31648da890916cf5db2113b8de04107b66678246
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-122.obj
@@ -0,0 +1,42 @@
+# SSTK version 0.8.0
+# 122
+mtllib original-122.mtl
+o mesh120/mesh120-geometry#mesh120-geometry
+v -0.236585 0.150065 -0.425866
+v -0.236585 0.150065 -0.42547
+v 0.192474 0.150065 -0.42547
+v 0.189501 0.150065 -0.425073
+v 0.195446 0.150065 -0.425866
+v -0.236585 0.150065 -0.425073
+v -0.026515 0.150065 -0.424281
+v -0.236585 0.150065 -0.424677
+v 0.186528 0.150065 -0.424677
+v -0.13155 0.150065 -0.424281
+v 0.07852 0.150065 -0.424281
+v -0.236585 0.150065 -0.424281
+v 0.183556 0.150065 -0.424281
+vn 0.0 1.0 0.0
+vn 0.0 -1.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 2//1 4//1 3//1
+f 3//2 4//2 2//2
+f 1//1 3//1 5//1
+f 5//2 3//2 1//2
+f 2//1 6//1 4//1
+f 4//2 6//2 2//2
+f 6//1 7//1 4//1
+f 4//2 7//2 6//2
+f 6//1 8//1 7//1
+f 7//2 8//2 6//2
+f 4//1 7//1 9//1
+f 9//2 7//2 4//2
+f 8//1 10//1 7//1
+f 7//2 10//2 8//2
+f 9//1 7//1 11//1
+f 11//2 7//2 9//2
+f 8//1 12//1 10//1
+f 10//2 12//2 8//2
+f 9//1 11//1 13//1
+f 13//2 11//2 9//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..138e29fb31725c3f59fe087775e669a217c241eb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-123.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 123
+mtllib original-123.mtl
+o mesh121/mesh121-geometry#mesh121-geometry
+v 0.195446 -0.151168 -0.425866
+v 0.183556 0.150065 -0.424281
+v 0.183556 -0.151168 -0.424281
+v 0.195446 0.150065 -0.425866
+vn 0.13216398209971147 0.0 0.991227865748107
+vn -0.13216398209971147 0.0 -0.991227865748107
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13a7f2beb7863a5c0691428a69a1e4600098c9b9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-124.obj
@@ -0,0 +1,29 @@
+# SSTK version 0.8.0
+# 124
+mtllib original-124.mtl
+o mesh122/mesh122-geometry#mesh122-geometry
+v -0.234999 -0.147204 -0.425866
+v -0.234999 -0.147204 -0.424281
+v -0.234999 0.146101 -0.424281
+v 0.181177 -0.147204 -0.425866
+v -0.234999 0.146101 -0.425866
+v 0.181177 -0.147204 -0.424281
+v 0.181177 0.146101 -0.424281
+v 0.181177 0.146101 -0.425866
+vn -1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 0.0 -1.0 0.0
+vn 0.0 1.0 0.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//3 2//3 1//3
+f 1//4 2//4 4//4
+f 1//1 3//1 5//1
+f 5//2 3//2 1//2
+f 4//3 6//3 2//3
+f 2//4 6//4 4//4
+f 5//4 3//4 7//4
+f 7//3 3//3 5//3
+f 5//4 7//4 8//4
+f 8//3 7//3 5//3
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..416b44c33f6932973ebd059cf37730c381fa417d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-125.obj
@@ -0,0 +1,117 @@
+# SSTK version 0.8.0
+# 125
+mtllib original-125.mtl
+o mesh123/mesh123-geometry#mesh123-geometry
+v 0.183556 -0.144826 -0.424281
+v 0.183556 0.143723 -0.425866
+v 0.183556 0.143723 -0.424281
+v 0.183556 -0.144826 -0.425866
+v 0.181177 0.146101 -0.425866
+v 0.181177 -0.147204 -0.425866
+v 0.182859 0.145405 -0.425866
+v 0.182859 -0.146507 -0.425866
+v 0.015103 -0.000551 -0.425866
+v 0.015103 -0.004515 -0.425866
+v 0.015103 0.003412 -0.425866
+v 0.077133 -0.147204 -0.425866
+v 0.015103 0.007376 -0.425866
+v 0.015103 -0.147204 -0.425866
+v 0.015103 0.01134 -0.425866
+v -0.005706 -0.004515 -0.425866
+v 0.015103 0.146101 -0.425866
+v -0.026911 -0.147204 -0.425866
+v -0.005706 0.01134 -0.425866
+v -0.026515 -0.004515 -0.425866
+v -0.026515 0.01134 -0.425866
+v -0.047323 -0.004515 -0.425866
+v -0.068132 0.146101 -0.425866
+v -0.068132 -0.147204 -0.425866
+v -0.047323 0.01134 -0.425866
+v -0.068132 -0.004515 -0.425866
+v -0.068132 0.01134 -0.425866
+v -0.130955 -0.147204 -0.425866
+v -0.234999 0.072775 -0.425866
+v -0.234999 -0.073878 -0.425866
+v -0.234999 -0.000551 -0.425866
+v -0.234999 0.146101 -0.425866
+v -0.234999 -0.147204 -0.425866
+v -0.068132 0.007376 -0.425866
+v -0.068132 -0.000551 -0.425866
+v -0.068132 0.003412 -0.425866
+vn 1.0 0.0 0.0
+vn -1.0 0.0 0.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
+f 4//3 5//3 2//3
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+f 13//4 11//4 5//4
+f 12//3 14//3 10//3
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+f 14//3 16//3 10//3
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+f 5//3 15//3 17//3
+f 17//4 15//4 5//4
+f 14//3 18//3 16//3
+f 16//4 18//4 14//4
+f 15//3 19//3 17//3
+f 17//4 19//4 15//4
+f 16//3 18//3 20//3
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+f 17//3 19//3 21//3
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+f 17//3 21//3 23//3
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+f 18//3 24//3 22//3
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+f 21//3 25//3 23//3
+f 23//4 25//4 21//4
+f 22//3 24//3 26//3
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+f 25//3 27//3 23//3
+f 23//4 27//4 25//4
+f 24//3 28//3 26//3
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+f 27//3 29//3 23//3
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+f 26//3 30//3 31//3
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+f 26//3 31//3 35//3
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+f 36//3 31//3 34//3
+f 34//4 31//4 36//4
+f 35//3 31//3 36//3
+f 36//4 31//4 35//4
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b8f481a5a9d79680ca36927cbbb73d283dbdac
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-126.obj
@@ -0,0 +1,131 @@
+# SSTK version 0.8.0
+# 126
+mtllib original-126.mtl
+o mesh124/mesh124-geometry#mesh124-geometry
+v -0.068132 -0.004515 -0.425866
+v -0.068132 -0.004515 -0.417939
+v -0.068132 0.01134 -0.417939
+v -0.052873 -0.004515 -0.417939
+v -0.007093 -0.004515 -0.417939
+v -0.068132 0.01134 -0.425866
+v -0.037613 -0.004515 -0.417939
+v -0.007093 0.01134 -0.417939
+v -0.022353 -0.004515 -0.417939
+v -0.007093 0.01134 -0.378303
+v 0.015103 -0.004515 -0.425866
+v -0.007093 -0.004515 -0.378303
+v 0.015103 0.01134 -0.378303
+v 0.015103 -0.004515 -0.413975
+v 0.015103 -0.004515 -0.378303
+v -0.007093 -0.004515 -0.40803
+v 0.015103 0.01134 -0.425866
+v 0.015103 -0.004515 -0.402085
+v -0.007093 0.01134 -0.398121
+v -0.007093 -0.004515 -0.398121
+v -0.007093 0.01134 -0.40803
+v -0.007093 0.01134 -0.388212
+v 0.015103 -0.004515 -0.390194
+v 0.009554 0.01134 -0.378303
+v -0.007093 -0.004515 -0.388212
+v -0.022353 0.01134 -0.417939
+v 0.004005 0.01134 -0.378303
+v 0.004005 -0.004515 -0.378303
+v -0.001544 0.01134 -0.378303
+v 0.009554 -0.004515 -0.378303
+v -0.001544 -0.004515 -0.378303
+v -0.037613 0.01134 -0.417939
+v -0.052873 0.01134 -0.417939
+v -0.068132 0.01134 -0.423884
+v -0.068132 0.01134 -0.421902
+v -0.068132 0.01134 -0.419921
+vn -1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 0.0 -1.0 0.0
+vn 0.0 1.0 0.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//3 4//3 2//3
+f 2//4 4//4 1//4
+f 5//5 2//5 3//5
+f 3//6 2//6 5//6
+f 1//1 3//1 6//1
+f 6//2 3//2 1//2
+f 1//3 7//3 4//3
+f 4//4 7//4 1//4
+f 5//5 3//5 8//5
+f 8//6 3//6 5//6
+f 1//3 9//3 7//3
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+f 5//1 10//1 8//1
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+f 11//3 9//3 1//3
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+f 11//3 5//3 9//3
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+f 13//3 19//3 17//3
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+f 17//4 21//4 19//4
+f 19//3 21//3 17//3
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+f 13//3 22//3 19//3
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+f 20//4 23//4 18//4
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+f 13//3 24//3 22//3
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+f 25//3 28//3 31//3
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+f 6//4 32//4 26//4
+f 26//3 32//3 6//3
+f 22//4 10//4 29//4
+f 29//3 10//3 22//3
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+f 30//4 15//4 23//4
+f 25//3 31//3 12//3
+f 12//4 31//4 25//4
+f 6//4 33//4 32//4
+f 32//3 33//3 6//3
+f 6//4 34//4 33//4
+f 33//3 34//3 6//3
+f 34//4 35//4 33//4
+f 33//3 35//3 34//3
+f 35//4 36//4 33//4
+f 33//3 36//3 35//3
+f 36//4 3//4 33//4
+f 33//3 3//3 36//3
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e241932da824ba7b3e4f97a1ec16ba0bc988c523
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-127.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 127
+mtllib original-127.mtl
+o mesh125/mesh125-geometry#mesh125-geometry
+v -0.014624 0.664697 0.259835
+v -0.014852 0.667017 0.259835
+v -0.015529 0.660147 0.259835
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a055acac3fc8158fa874b9dda0eefd21545db5e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-128.obj
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+# SSTK version 0.8.0
+# 128
+mtllib original-128.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b6439fbb563481f4240557d02be009a23bca905
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-13.obj
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+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b090ba8531534db199e1bdc99b2ac851b92a0de4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a6d42c4149ca46c513abe62ee1d7dbfe988a5e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8a940c16e89f38f0f78607cff15c37c9cf453c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-16.obj
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+# SSTK version 0.8.0
+# 16
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..258f1cfe0cebdad6d8704154739017b2ae206620
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bf938bd8b4ecb77159f68bb4e6c26c29da5f5a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-18.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d38ae3f39e7ef08ed361725c23082affbd679539
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-19.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8023487fa5d0df6ee0dd0980cd4e06e0092cd62
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-2.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Group2/mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0562641026052038198aaa9893c979f6642b81ad
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-20.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o Group20/mesh20/mesh20-geometry#mesh20-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f482a5d7c61ae64210c1c9b58ce3e980884b6435
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-21.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o Group21/mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53f0252d2f545794e600ccbc7752651480edb931
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-22.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Group22/mesh22/mesh22-geometry#mesh22-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f14968c55ca82ec34ec718ccc5c48d7f86eb95
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-23.obj
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+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75a34f9e778b8f502b415bf860e089d7457260bb
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-24.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b0aaa2db4373c6c4d754cb4bb70eeb167dee24
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-25.obj
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+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.mtl
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+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..944ba700f4a87e6a58d5ccb93d93e01e46cacd66
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-26.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o Group26/mesh26/mesh26-geometry#mesh26-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9b92536ffcb2618fd7a0fbe43eecb20a1fb2fce
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-27.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o Group27/mesh27/mesh27-geometry#mesh27-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4544b4e4ed00584fa1fa47feaee4e2e206edcd41
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-28.obj
@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o Group28/mesh28/mesh28-geometry#mesh28-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faf56a34a42c848607b9e50bafcb7f8936f301cc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-29.obj
@@ -0,0 +1,109 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cd106093ef3c79dc021e27d394476c7fc32ade
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-3.obj
@@ -0,0 +1,206 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa26f816f6ab3da2b05c33310aab542c91fa4400
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-30.obj
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+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fc140f0332d044deb8c72e0a23bf9a90f56b6ba
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-31.obj
@@ -0,0 +1,165 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o Group31/mesh31/mesh31-geometry#mesh31-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ead3ab3e8637cc7d5c8546f805fe2b5450074a8c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d37d6528fc6454c9fa352920b769397cf962e372
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-34.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-34.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d40b36d9b654366a1944c3a3cd4a2a90766d98b0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-35.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-35.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..a2608dae6ede892aa6a78c936bab0250ea6edc6c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96aa2c828ee02e5ff27eab1e686cb7ec86b340fa
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-36.obj
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+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bce3edd657020e5d4f7a55384638f28bc531763e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-37.obj
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+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75bbfaf21558f8ac9d514bef77d3f18ad6645ce
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-38.obj
@@ -0,0 +1,86 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4242f0159641f252bc6497f23686ef01f2e94d63
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-39.obj
@@ -0,0 +1,305 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49fc91d35b1c200635159f252e950e92d46b979a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-40.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-40.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db9cc02874791b2eee36c8587b62f7fab59a156
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-40.obj
@@ -0,0 +1,68 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o Group40/mesh40/mesh40-geometry#mesh40-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca96b8c24e4e3c7746a98868d42f3d4690200891
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-41.obj
@@ -0,0 +1,1673 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5577f348cb2254f941ad74e10cdce0369ad8e774
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-42.obj
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+# SSTK version 0.8.0
+# 42
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-43.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-43.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a08263b44f8772e9dbdfa59fb809d9976ba357d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6709dc97bfab1f8838d46ea7e53caba6986a5852
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a8f2382b19a3a6f00c2030f9153df583aae3ed1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c291356b72347062a4e8e182833bd68f64a8cec
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fe6c24d3c42b77459e3226acd6aefee2dd6df2e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ca89dcd56033292860018b6a7dba8ca955cd050
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-48.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o Group48/mesh48/mesh48-geometry#mesh48-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01ab1b643d0b997641cca4eceac48f2dbc432f7d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e90549fa3666733c4d669bd840ee55b193637ef9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa914a9bd70ec903df3e44ce66bed89c29275572
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-50.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-51.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-51.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db09077f733dd0bf2bbd122d69e057b78a938c1f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba7c6eafebe5d1e32d63c9195dd0e7529a226a3f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-52.obj
@@ -0,0 +1,1673 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59bcea55fb00f47d660ee786349ea8c5ca3edbaa
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-53.obj
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+# SSTK version 0.8.0
+# 53
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d60b71a49de83e567c2169bc63b04738dac152
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-54.obj
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+# 54
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9fc0a37f1c90f1be827d55807d0cefb59b0a83
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-55.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o Group55/mesh55/mesh55-geometry#mesh55-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c10c72165f2c7e9adf58741b9d69dc90f10e870
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-56.obj
@@ -0,0 +1,68 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
+o Group56/mesh56/mesh56-geometry#mesh56-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a9becf8772f1f6068f85f71d97729f7637879bc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-57.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..879f191c78defa602311d3c31c251b73a36d9dd9
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-58.obj
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+# SSTK version 0.8.0
+# 58
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75d69edb258547aed975692c25c7b47301a83be5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-59.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8487910d2482b57e94665cbd298c51d723bd144d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-6.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c7ea83cbad2e3e86459556d9a57099d386c4dcc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-60.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o Group60/mesh60/mesh60-geometry#mesh60-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eac584f2bbf668c8ecde7fc506c87efe1d19005
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-61.obj
@@ -0,0 +1,64 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..251065c972d271f768bfcc86ceb1ef1e147337ca
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-62.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39e2d90dadf7f82e4453fbeacfe5fb2839e00083
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-63.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02a56e1c96acb1706f9f7e7a9e759bd2b298639d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-64.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o Group64/mesh64/mesh64-geometry#mesh64-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58a00a596b3d39d8492832049f00288382bd1a32
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-65.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o Group65/mesh65/mesh65-geometry#mesh65-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d7badda9fb2d9860bc756f6603263b3e20cba4b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-66.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o Group66/mesh66/mesh66-geometry#mesh66-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98b93cd5002667f93b3b60d1bfa03af480ad3dc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-67.obj
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+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da3b7e7d34698334b33470b0eb73c5e7996ebeec
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-68.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o Group68/mesh68/mesh68-geometry#mesh68-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9ac970f78790e281163a813340262bb98a0d0d8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-69.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
+o Group69/mesh69/mesh69-geometry#mesh69-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c409c74bace36514ceb4da4587809de50be34589
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-7.obj
@@ -0,0 +1,158 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c712907f7b178023599c3504b6fe8756e6249b4c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-70.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o Group70/mesh70/mesh70-geometry#mesh70-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a23cfeab883e1278f10d2e36cba3005e4f1d3c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-71.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
+o Group71/mesh71/mesh71-geometry#mesh71-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0016ee2ef96d190e7ba40369430ff4c6731f2a27
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-72.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o Group72/mesh72/mesh72-geometry#mesh72-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c31e39b4da8a55ea50917c62db972f119b38f301
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-73.obj
@@ -0,0 +1,78 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o Group73/mesh73/mesh73-geometry#mesh73-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e7f9834596edbe46f63e870fd5f10b840dd2d64
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-74.obj
@@ -0,0 +1,104 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcaebfc942eb45140ff5e4ec01163f9af70e5925
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-75.obj
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+# SSTK version 0.8.0
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+mtllib original-75.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79aa85ec93e835bf5815659084eb0011a30cbf23
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-76.obj
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+# SSTK version 0.8.0
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+mtllib original-76.mtl
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-78.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-78.mtl
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index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-78.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-78.obj
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index 0000000000000000000000000000000000000000..0c02cf3e61d8de94c9e5bea6dec6aac29cde5078
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.mtl
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+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1376356a49564b5d6e120f18c884dfeb8b1744
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-79.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9718d533b5b34cd7a6a1123bfbf1fefa08e19bf5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-80.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-80.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8efe4deffac916b081707c5ee88e278025584a32
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-81.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-81.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613c2077864c48ee0995835c842ea669c50feaf7
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..458679d8248f52ea80dd6195aab20bf7038f4f9a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7150b69e74c064100ee58a861e41a5aded6ea9ec
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-83.obj
@@ -0,0 +1,138 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e400b4e0702be8aecba84e50a3a0f2989c6decc3
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a72f11ae2bd37e2ad3931ca2c29236cdc13492db
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-85.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd530e1cbef65735d6c23fdc559febd6bde2efc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-86.obj
@@ -0,0 +1,206 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33a10ec15955a61904de420d3fe853771018a837
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-88.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o mesh87/mesh87-geometry#mesh87-geometry
+v 0.183237 -0.146015 -0.425866
+v 0.183357 -0.145778 -0.424281
+v 0.183554 -0.144917 -0.42547
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+vn 0.9633539925070327 -0.2662039979294653 -0.032931999743854974
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24218ca120bd98f64eec0cba26719d97e6df99b3
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-89.obj
@@ -0,0 +1,31 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o mesh88/mesh88-geometry#mesh88-geometry
+v 0.18206 -0.147034 -0.425866
+v 0.181177 -0.147204 -0.425073
+v 0.182161 -0.146991 -0.424281
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3791730216909918e44633949abe654db7be6ea
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-9.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o Group9/mesh9/mesh9-geometry#mesh9-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc5df43b36f16a746ddcd42531766afc9652c218
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-90.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
+o Group88/mesh89/mesh89-geometry#mesh89-geometry
+v 0.183554 0.143632 -0.425073
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c34411bfc736dd6149fbd69b3b3c03946ce9e628
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-91.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
+o Group89/mesh90/mesh90-geometry#mesh90-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdbf7ea7ab6436b20c2b4028656a63a2ff1355b1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-92.obj
@@ -0,0 +1,291 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
+o Group90/mesh91/mesh91-geometry#mesh91-geometry
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-93.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-93.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..622c63be63747282d2cf86f2d3693a5d98da7edf
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93d6c5d7835a942cc60e2d6ee281a319a34eebbe
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-95.obj
@@ -0,0 +1,456 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1bc6cb76735789f8344293bce51b5dbd87195a0
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-96.obj
@@ -0,0 +1,170 @@
+# SSTK version 0.8.0
+# 96
+mtllib original-96.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda0343bb3f4607567016552bd2fd74334bd1639
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-97.obj
@@ -0,0 +1,193 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d11f074fb8b1717e315ab7175d65228785e1d386
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-98.obj
@@ -0,0 +1,203 @@
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+mtllib original-98.mtl
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+f 60//1 59//1 58//1
+f 58//2 59//2 60//2
+f 60//1 61//1 59//1
+f 59//2 61//2 60//2
+f 62//1 61//1 60//1
+f 60//2 61//2 62//2
+f 62//1 63//1 61//1
+f 61//2 63//2 62//2
+f 11//1 63//1 62//1
+f 62//2 63//2 11//2
+f 11//1 64//1 63//1
+f 63//2 64//2 11//2
+f 11//1 65//1 64//1
+f 64//2 65//2 11//2
+f 66//1 65//1 11//1
+f 11//2 65//2 66//2
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.mtl b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6bcdc0e29c433f894248178004226546b08f96e2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.obj b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b41d0ff81f7bd503c0a694e6ec32727d6cfe076
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101520/textured_objs/original-99.obj
@@ -0,0 +1,97 @@
+# SSTK version 0.8.0
+# 99
+mtllib original-99.mtl
+o mesh97/mesh97-geometry#mesh97-geometry
+v 0.667113 -0.17981 -0.425866
+v 0.195446 -0.075859 -0.425866
+v 0.195446 -0.151168 -0.425866
+v 0.195446 -0.000551 -0.425866
+v 0.195446 -0.17981 -0.425866
+v 0.667113 0.193665 -0.425866
+v 0.087438 -0.151168 -0.425866
+v 0.195446 0.074757 -0.425866
+v -0.020569 -0.151168 -0.425866
+v 0.195446 0.150065 -0.425866
+v -0.236585 -0.17981 -0.425866
+v 0.320299 0.193665 -0.425866
+v -0.128577 -0.151168 -0.425866
+v 0.195446 0.193665 -0.425866
+v -0.236585 -0.151168 -0.425866
+v 0.087438 0.150065 -0.425866
+v -0.720143 -0.17981 -0.425866
+v -0.026515 0.193665 -0.425866
+v -0.720143 -0.086442 -0.425866
+v -0.020569 0.150065 -0.425866
+v -0.236585 -0.075859 -0.425866
+v -0.128577 0.150065 -0.425866
+v -0.720143 0.006927 -0.425866
+v -0.236585 0.193665 -0.425866
+v -0.236585 -0.000551 -0.425866
+v -0.236585 0.150065 -0.425866
+v -0.236585 0.074757 -0.425866
+v -0.373329 0.193665 -0.425866
+v -0.720143 0.100296 -0.425866
+v -0.720143 0.193665 -0.425866
+vn 0.0 0.0 1.0
+vn 0.0 0.0 -1.0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 3//1 5//1
+f 5//2 3//2 1//2
+f 6//1 4//1 1//1
+f 1//2 4//2 6//2
+f 3//1 7//1 5//1
+f 5//2 7//2 3//2
+f 6//1 8//1 4//1
+f 4//2 8//2 6//2
+f 5//1 7//1 9//1
+f 9//2 7//2 5//2
+f 6//1 10//1 8//1
+f 8//2 10//2 6//2
+f 5//1 9//1 11//1
+f 11//2 9//2 5//2
+f 6//1 12//1 10//1
+f 10//2 12//2 6//2
+f 9//1 13//1 11//1
+f 11//2 13//2 9//2
+f 12//1 14//1 10//1
+f 10//2 14//2 12//2
+f 13//1 15//1 11//1
+f 11//2 15//2 13//2
+f 14//1 16//1 10//1
+f 10//2 16//2 14//2
+f 15//1 17//1 11//1
+f 11//2 17//2 15//2
+f 14//1 18//1 16//1
+f 16//2 18//2 14//2
+f 15//1 19//1 17//1
+f 17//2 19//2 15//2
+f 16//1 18//1 20//1
+f 20//2 18//2 16//2
+f 21//1 19//1 15//1
+f 15//2 19//2 21//2
+f 20//1 18//1 22//1
+f 22//2 18//2 20//2
+f 21//1 23//1 19//1
+f 19//2 23//2 21//2
+f 18//1 24//1 22//1
+f 22//2 24//2 18//2
+f 25//1 23//1 21//1
+f 21//2 23//2 25//2
+f 22//1 24//1 26//1
+f 26//2 24//2 22//2
+f 27//1 23//1 25//1
+f 25//2 23//2 27//2
+f 24//1 28//1 26//1
+f 26//2 28//2 24//2
+f 27//1 29//1 23//1
+f 23//2 29//2 27//2
+f 26//1 28//1 29//1
+f 29//2 28//2 26//2
+f 26//1 29//1 27//1
+f 27//2 29//2 26//2
+f 28//1 30//1 29//1
+f 29//2 30//2 28//2
diff --git a/data/PartNet-Mobility/Dispenser/101528/bounding_box.json b/data/PartNet-Mobility/Dispenser/101528/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..3baa4afd87f8d1712a703ec5f6d74cae35ae0c95
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.326836, -0.46837, -0.340309], "max": [0.33833, 1.004683, 0.569934]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101528/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101528/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..74d78dfc01fa885ee96775191235c84bc2547319
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ee886c97fdffabbaf6c1aa4ca63b82f664e1a2eb1f2829c06efaeff9d8c4df
+size 15868
diff --git a/data/PartNet-Mobility/Dispenser/101528/meta.json b/data/PartNet-Mobility/Dispenser/101528/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82733858c686e557d17e95e5baa1841ad4ef9abd
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "8c726f9c-876e-4583-89ae-4255711b14f0", "version": "1", "anno_id": "1528", "time_in_sec": "45"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101528/mobility.urdf b/data/PartNet-Mobility/Dispenser/101528/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..070c3f2e1037fa1c0bd4a874d5338aeac300e75a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/mobility.urdf
@@ -0,0 +1,139 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8c726f9c-876e-4583-89ae-4255711b14f0">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.005210566552212842 0 0.05300036527483853"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.005210566552212842 0 0.05300036527483853"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005210566552212842 0 0.05300036527483853"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005210566552212842 0 0.05300036527483853"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.005746960569657086 0 0.0077259795611607784"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.0005363940174442439 0 -0.04527438571367775"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.2"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.005746960569657086 0 -0.0077259795611607784"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.020000000000000018"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101528/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101528/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7052c969de4a1542a08b04f281ac7d9e0a1dd76b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.005210566552212842,0,-0.05300036527483853],"direction":[0,1,0]},"limit":{"a":0,"b":-0.2,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[0.005746960569657086,0,-0.0077259795611607784],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101528/result.json b/data/PartNet-Mobility/Dispenser/101528/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..155c45f2f582364d6e4c52444cab65845fc2e728
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-4"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-6", "original-3", "original-11"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-9", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101528/result_original.json b/data/PartNet-Mobility/Dispenser/101528/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0707c83fa199cd65f6dfa667b68a4725baf82e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-4"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-6", "original-3", "original-11"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101528/semantics.txt b/data/PartNet-Mobility/Dispenser/101528/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4d9579e5b1993db63749567a7eb25c57292c04a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9529411764705882 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..360d6d8049a23cf6263c50f73d01594be4f3bd72
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-10.obj
@@ -0,0 +1,2363 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID132
+v -0.129844 -0.383317 -0.269306
+v -0.166551 -0.392438 -0.241425
+v -0.169108 -0.383317 -0.244893
+v -0.200973 -0.392438 -0.211579
+v -0.131231 -0.373456 -0.271982
+v -0.127861 -0.392438 -0.265482
+v -0.197117 -0.400782 -0.207777
+v -0.204040 -0.383317 -0.214604
+v -0.088213 -0.373456 -0.290179
+v -0.170897 -0.373455 -0.247319
+v -0.087261 -0.383317 -0.287318
+v -0.163338 -0.400782 -0.237066
+v -0.225932 -0.400782 -0.173592
+v -0.230335 -0.392438 -0.176744
+v -0.088698 -0.362888 -0.291636
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+v -0.085901 -0.392438 -0.283230
+v -0.125369 -0.400782 -0.260674
+v -0.220779 -0.408312 -0.169902
+v -0.192605 -0.408312 -0.203327
+v -0.233838 -0.383317 -0.179252
+v -0.206186 -0.373455 -0.216720
+v -0.043118 -0.362888 -0.302892
+v -0.042867 -0.373455 -0.301377
+v -0.171808 -0.362888 -0.248556
+v -0.042375 -0.383317 -0.298403
+v -0.159577 -0.408312 -0.231965
+v -0.243341 -0.408312 -0.132460
+v -0.249007 -0.400782 -0.135297
+v -0.253849 -0.392438 -0.137722
+v -0.043138 0.155927 -0.303016
+v -0.088737 0.155927 -0.291755
+v -0.131995 0.155927 -0.273457
+v -0.041671 -0.392438 -0.294153
+v -0.084192 -0.400782 -0.278092
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+v -0.237016 -0.414993 -0.129292
+v -0.215027 -0.414993 -0.165784
+v -0.187568 -0.414993 -0.198360
+v -0.257701 -0.383317 -0.139651
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+v -0.207280 -0.362888 -0.217799
+v 0.003657 0.155927 -0.307051
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+v 0.003669 -0.373455 -0.305389
+v -0.171883 0.155927 -0.248657
+v 0.003690 -0.383317 -0.302375
+v -0.155379 -0.414993 -0.226271
+v -0.253064 -0.414993 -0.089826
+v -0.259807 -0.408312 -0.091965
+v -0.265848 -0.400782 -0.093881
+v -0.271010 -0.392438 -0.095518
+v 0.003679 0.173138 -0.303944
+v -0.042631 0.173138 -0.299952
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+v -0.130566 0.173138 -0.270699
+v 0.003720 -0.392438 -0.298067
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+v -0.230197 -0.420790 -0.125878
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+v 0.050040 0.173138 -0.300599
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..746e7d43fe032fe6cca616c60eac06dffb1bda7e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f75c2a776372762ae53de9b7a415b1da28c87e5
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.mtl b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9fa62cc5c2c6cb6a9720b61312800b0bdc79dbc1
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.obj b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d07b19eb93b681d3383309321104f3bef123c70d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf37fcd144a3f0ec2c29dafe174e2b45bc9984c7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101528/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e378d28b0811071f9f584d5e83c15129076bec0c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101531/bounding_box.json b/data/PartNet-Mobility/Dispenser/101531/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b3cfc838ebe74aae66826253b0128b8855ade3
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.438207, -0.64297, -0.471639], "max": [0.467277, 0.959396, 0.433845]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101531/images/texture_0.jpg b/data/PartNet-Mobility/Dispenser/101531/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/Dispenser/101531/meta.json b/data/PartNet-Mobility/Dispenser/101531/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44f28162126d646a4f9a8971061044958712570
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "8cd07794-5a60-405b-bd40-f1c577f65f36", "version": "1", "anno_id": "1531", "time_in_sec": "34"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101531/mobility.urdf b/data/PartNet-Mobility/Dispenser/101531/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e40ea1021c3d20a4f8c6204a9f44f550a9f7cb21
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/mobility.urdf
@@ -0,0 +1,127 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8cd07794-5a60-405b-bd40-f1c577f65f36">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.014534499999999999 0 0.018897229657148674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="-0.014534765318885312 0 0.018896999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.014534765318885312 0 0.018896999999999997"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-2.653188853132815e-07 0 -2.2965714867664855e-07"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.13"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.014534765318885312 0 -0.018896999999999997"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101531/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101531/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c756c29d204f8955139536fe90fd4daa8b4de279
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.014534499999999999,0,-0.018897229657148674],"direction":[0,1,0]},"limit":{"a":0,"b":-0.13,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":3,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[0.014534765318885312,0,-0.018896999999999997],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":4,"name":"outlier"}],"jointData":{}},{"id":3,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101531/result.json b/data/PartNet-Mobility/Dispenser/101531/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d16fc7211eba9664fecf05443ad8b35845f762c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-4"]}]}, {"text": "outlier", "name": "outlier", "id": 4, "objs": ["original-6"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-8", "original-5", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101531/result_original.json b/data/PartNet-Mobility/Dispenser/101531/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..80009285b9d0ec2bf8ea82f6d4179e4f9c1e7dcc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-4"]}]}, {"id": 4, "name": "outlier", "text": "outlier", "objs": ["original-6"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101531/semantics.txt b/data/PartNet-Mobility/Dispenser/101531/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92953fbdeb0f14c499ad9b9c0ecc98a278eb9c2d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.8 0.6392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf087365021477ed857fbfdc36f9a817d7391875
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-1.obj
@@ -0,0 +1,2357 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID3
+v 0.014535 0.178504 0.428000
+v -0.099434 0.253709 0.406438
+v -0.101131 0.178504 0.412772
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+v 0.237983 0.178504 0.368127
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-3.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a96bd609b9db2934a10f1460d078dc6e06401d8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-6.mtl b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-6.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-6.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-6.obj
new file mode 100644
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--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-7.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-7.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-8.mtl b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-8.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101531/textured_objs/original-8.obj
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/Dispenser/101533/meta.json b/data/PartNet-Mobility/Dispenser/101533/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..480930155f5b28a3a8684b52edc3593658e7533b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "8dc910d2-5ddc-46a7-9216-695dd51cd55b", "version": "2", "anno_id": "1533", "time_in_sec": "67"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101533/mobility.urdf b/data/PartNet-Mobility/Dispenser/101533/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6fc11854f5186ae2dbf04f35017ed9d8e172ea49
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/mobility.urdf
@@ -0,0 +1,151 @@
+<?xml version="1.0" ?>
+<robot name="partnet_8dc910d2-5ddc-46a7-9216-695dd51cd55b">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-4">
+			<origin xyz="0.00011 0 0.005202499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-4">
+			<origin xyz="0.00011 0 0.005202499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.00011 0 0.005202499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.00011 0 0.005202499999999999"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.00011 0 -0.005202499999999999"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.14"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.1160000000000001"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101533/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101533/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d293d8cd8465cf8a0e9c8d9b12af9d51a1ca14
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":4,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.00011,0,-0.005202499999999999],"direction":[0,1,0]},"limit":{"a":0,"b":-0.14,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":6,"name":"head"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.1160000000000001,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101533/result.json b/data/PartNet-Mobility/Dispenser/101533/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b02a9b86db0f83cc461a40d745f5e8264f40d4
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 4, "objs": ["original-3", "original-9"]}, {"text": "head (other)", "name": "other", "id": 5, "children": [{"text": "other_leaf", "name": "head", "id": 6, "objs": ["original-4", "original-2"]}]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-8", "original-5", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101533/result_original.json b/data/PartNet-Mobility/Dispenser/101533/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aca7630b6d9457e3441999fb8415bd81e422b51
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 4, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-3", "original-9"]}, {"id": 5, "name": "other", "text": "head (other)", "children": [{"id": 6, "name": "other_leaf", "text": "other_leaf", "objs": ["original-4", "original-2"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101533/semantics.txt b/data/PartNet-Mobility/Dispenser/101533/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a3a774d3ac8ad84c355b795c684b43087f9c662
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-1.obj
@@ -0,0 +1,77 @@
+# SSTK version 0.8.0
+# 1
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diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16cb8dde14dd4358c7eed09ab7039777ebb35d1d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-2.obj
@@ -0,0 +1,122 @@
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+# 2
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diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-3.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101533/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40e0cbf7420778962408b8f87516a342925142bb
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+<?xml version="1.0" ?>
+<robot name="partnet_a1c91a0d66c865b0c0ea4586d3cf4a4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="pressing_lid-1">
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="pressing_lid-1">
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.010711499999999999 0 -0.015151500000000002"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="-0.010711499999999999 0 0.015151500000000002"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101539/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101539/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3c7a7d9a2a875a9d201834f93956be29d381a2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.010711499999999999,0,0.015151500000000002],"direction":[0,1,0]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101539/result.json b/data/PartNet-Mobility/Dispenser/101539/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..e53bc28fe37c592ee2b857235145248230ae03be
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-3"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101539/result_original.json b/data/PartNet-Mobility/Dispenser/101539/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..900ea78940d7da2118f111b1635b1c15100b6871
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-3"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101539/semantics.txt b/data/PartNet-Mobility/Dispenser/101539/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c914f53224d931ff8f7d22fdbff20f86bd82ea31
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider+ lid
+link_1 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..443f943f3d3a8209d94c431c80b3d07d88afad51
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.mtl
@@ -0,0 +1,37 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_3_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.24705882352941178 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_4_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..338cd4ea0ab07983407025e32869c78f989c2321
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-1.obj
@@ -0,0 +1,20111 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aca8656c2c4a0dbf42ec808be147c0be69903448
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b55d0d79cdd4b471b0b2537ab3c7630bab7bfc
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd48705f395421fd68a29fd3d5c43be8103026b2
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101539/textured_objs/original-3.obj
@@ -0,0 +1,503 @@
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diff --git a/data/PartNet-Mobility/Dispenser/101540/bounding_box.json b/data/PartNet-Mobility/Dispenser/101540/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..d23e62896a55db05861f783d79494ad3558341c8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.201305, -0.976167, -0.353037], "max": [0.194182, 0.735665, 0.439886]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101540/meta.json b/data/PartNet-Mobility/Dispenser/101540/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7dad5f43e0421d16a6a00f8bacf6f9a46351171
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "a7732257-2737-4c45-aaa2-b2c8a65c5fe8", "version": "1", "anno_id": "1540", "time_in_sec": "130"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101540/mobility.urdf b/data/PartNet-Mobility/Dispenser/101540/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bb0938fa387ccc0a7cbfc92fd79e57e35c88ec49
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/mobility.urdf
@@ -0,0 +1,228 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a7732257-2737-4c45-aaa2-b2c8a65c5fe8">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="handle-1">
+			<origin xyz="-0.05307537776678295 -0.4973957113119832 -0.31956767807669373"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.05307537776678295 -0.4973957113119832 -0.31956767807669373"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
+		<origin xyz="0.05663692670536441 0.4973957113119832 0.37409080481462603"/>
+		<axis xyz="0.9998156523539538 -4.897941595025503e-07 -0.019200554882556953"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="-0.0" upper="0.3490658503988659"/>
+	</joint>
+	<link name="link_1">
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="head-3">
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0035615489385814603 0 0.05452312673793228"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.0 0 0.0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_1_helper"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1_helper"/>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="-0.0035615489385814603 0 -0.05452312673793228"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1_helper"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.15"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Dispenser/101540/mobility_v2.json b/data/PartNet-Mobility/Dispenser/101540/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e9e1bfd4dffc616015d9f1b74a923637c5ed769
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"handle","parts":[{"id":1,"name":"handle"}],"jointData":{"axis":{"origin":[0.05307537776678295,0.4973957113119832,0.31956767807669373],"direction":[-0.9998156523539538,4.897941595025503e-7,0.019200554882556953]},"limit":{"a":0,"b":-20,"noLimit":false}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[-0.0035615489385814603,0,-0.05452312673793228],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.15,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101540/result.json b/data/PartNet-Mobility/Dispenser/101540/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b681869347e9b0e643857c7d65125d8a0258300
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-3"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-2", "original-15", "original-14", "original-16", "original-4", "original-1", "original-13", "original-10", "original-9", "original-11", "original-8", "original-12"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-5", "original-6", "original-7"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101540/result_original.json b/data/PartNet-Mobility/Dispenser/101540/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c997ae8069d8d0e181f75f03fa45cec63ccd202
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-3"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-2", "original-15", "original-14", "original-16", "original-4", "original-1", "original-13", "original-10", "original-9", "original-11", "original-8", "original-12"]}]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101540/semantics.txt b/data/PartNet-Mobility/Dispenser/101540/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9a0c3c3bffd6aa83b6f63683a6ce493df76829bd
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge handle
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.5019608
+Ns 30
+Kd 0.8627450980392157 0.8627450980392157 0.8627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178d28b3b275e3a6bb788a8fc6ac7260c6b79e0b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-1.obj
@@ -0,0 +1,415 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID4
+v -0.086279 0.494058 0.233899
+v -0.086849 0.470824 0.204237
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-10.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-10.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f43a50d33fcd47aeb059a5aeb94eb73bf39b52d
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70352a6f37982524414b3f44bb35893c6fe661e
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-11.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-14.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5dd6c0d05955ce604e75986451a952c97f9322d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-15.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-15.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3e8ac8d098014de0a92da011db34b5434a7ede
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-16.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-16.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cffa444fb1f8d33f222d18f77043e70f10470e88
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-2.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-2.mtl
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index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-2.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502f81da46a654210b769025891cb047324ebfe6
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d0aca348821f6a59e29199d7cae7d8f8575935
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d68f6681151280944749a1122db4d1ffdebd778
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff9877407478a58a085e1e9ede6e869d0db5d81d
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.mtl
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+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b93fec076540f0b585534376ec08ca89ac78effe
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..f4c542120e28426a260965cef1bc8891d193d61e
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new file mode 100644
index 0000000000000000000000000000000000000000..3595b2141fcd42dd48adf7578ff5342d7527a9aa
--- /dev/null
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new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-8.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8683cdb77c4fe4d68660eb0d9b215c1e647d109b
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-9.mtl b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e705c3b7dec99856af2d6e48e7775483c3fd4e8
--- /dev/null
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diff --git a/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-9.obj b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49f783ea6c0fdd230e0bb8bb3e128a75ac43cd22
--- /dev/null
+++ b/data/PartNet-Mobility/Dispenser/101540/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Dispenser/101541/bounding_box.json b/data/PartNet-Mobility/Dispenser/101541/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..83a1b09d36867b8aa231865780f04ddb5bb909ea
--- /dev/null
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Dispenser/101541/meta.json b/data/PartNet-Mobility/Dispenser/101541/meta.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file