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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/ply-10000.ply b/data/PartNet-Mobility/Keyboard/12838/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..4acb51f43b5a2feb4e36abeb85f34538916d504e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/pts-10000.pts b/data/PartNet-Mobility/Keyboard/12838/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..457f3e29c195b9c9a986869fa64c9317aae30c50
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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/pts-10000.txt b/data/PartNet-Mobility/Keyboard/12838/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb9adb5feceb6417a284c867642536adbde3744c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4d8e1aaf6601a0ccd6d9ffb58f4decb4689513b8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f9e63ad8e35f8a4a6f667c873bca64122e4867af
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0e8615ea79c2ae2af8f8f7e77db89088a1f4fb4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12838/result.json b/data/PartNet-Mobility/Keyboard/12838/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a23a8fd08e68c7affd56dace42c5ba893b7b6308
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/result.json
@@ -0,0 +1 @@
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"objs": ["original-67"], "id": 31, "name": "key"}, {"text": "Key", "objs": ["original-63"], "id": 32, "name": "key"}, {"text": "Key", "objs": ["original-68"], "id": 33, "name": "key"}, {"text": "Key", "objs": ["original-69"], "id": 34, "name": "key"}, {"text": "Key", "objs": ["original-79"], "id": 35, "name": "key"}, {"text": "Key", "objs": ["original-71"], "id": 36, "name": "key"}, {"text": "Key", "objs": ["original-70"], "id": 37, "name": "key"}, {"text": "Key", "objs": ["original-72"], "id": 38, "name": "key"}, {"text": "Key", "objs": ["original-75"], "id": 39, "name": "key"}, {"text": "Key", "objs": ["original-73"], "id": 40, "name": "key"}, {"text": "Key", "objs": ["original-74"], "id": 41, "name": "key"}, {"text": "Key", "objs": ["original-78"], "id": 42, "name": "key"}, {"text": "Key", "objs": ["original-76"], "id": 43, "name": "key"}, {"text": "Key", "objs": ["original-77"], "id": 44, "name": "key"}, {"text": "Key", "objs": ["original-39"], "id": 45, "name": "key"}, {"text": "Key", "objs": ["original-54"], "id": 46, "name": "key"}, {"text": "Key", "objs": ["original-48"], "id": 47, "name": "key"}, {"text": "Key", "objs": ["original-53"], "id": 48, "name": "key"}, {"text": "Key", "objs": ["original-56"], "id": 49, "name": "key"}, {"text": "Key", "objs": ["original-52"], "id": 50, "name": "key"}, {"text": "Key", "objs": ["original-10"], "id": 51, "name": "key"}, {"text": "Key", "objs": ["original-61"], "id": 52, "name": "key"}, {"text": "Key", "objs": ["original-16"], "id": 53, "name": "key"}, {"text": "Key", "objs": ["original-37"], "id": 54, "name": "key"}, {"text": "Key", "objs": ["original-27"], "id": 55, "name": "key"}, {"text": "Key", "objs": ["original-40"], "id": 56, "name": "key"}, {"text": "Key", "objs": ["original-34"], "id": 57, "name": "key"}, {"text": "Key", "objs": ["original-29"], "id": 58, "name": "key"}, {"text": "Key", "objs": ["original-25"], "id": 59, "name": "key"}, {"text": "Key", "objs": ["original-35"], "id": 60, "name": "key"}, {"text": "Key", "objs": ["original-36"], "id": 61, "name": "key"}, {"text": "Key", "objs": ["original-31"], "id": 62, "name": "key"}, {"text": "Key", "objs": ["original-45"], "id": 63, "name": "key"}, {"text": "Key", "objs": ["original-18"], "id": 64, "name": "key"}, {"text": "Key", "objs": ["original-12"], "id": 65, "name": "key"}, {"text": "Key", "objs": ["original-47"], "id": 66, "name": "key"}, {"text": "Key", "objs": ["original-51"], "id": 67, "name": "key"}, {"text": "Key", "objs": ["original-2"], "id": 68, "name": "key"}, {"text": "Key", "objs": ["original-11"], "id": 69, "name": "key"}, {"text": "Key", "objs": ["original-38"], "id": 70, "name": "key"}, {"text": "Key", "objs": ["original-4"], "id": 71, "name": "key"}, {"text": "Key", "objs": ["original-59"], "id": 72, "name": "key"}, {"text": "Key", "objs": ["original-28"], "id": 73, "name": "key"}, {"text": "Key", "objs": ["original-22"], "id": 74, "name": "key"}, {"text": "Key", "objs": ["original-44"], "id": 75, "name": "key"}, {"text": "Key", "objs": ["original-55"], "id": 76, "name": "key"}, {"text": "Key", "objs": ["original-57"], "id": 77, "name": "key"}, {"text": "Key", "objs": ["original-99"], "id": 78, "name": "key"}, {"text": "Key", "objs": ["original-101"], "id": 79, "name": "key"}, {"text": "Key", "objs": ["original-100"], "id": 80, "name": "key"}, {"text": "Key", "objs": ["original-102"], "id": 81, "name": "key"}, {"text": "Key", "objs": ["original-81"], "id": 83, "name": "key"}, {"text": "Key", "objs": ["original-82"], "id": 84, "name": "key"}, {"text": "Key", "objs": ["original-83"], "id": 85, "name": "key"}, {"text": "Key", "objs": ["original-84"], "id": 86, "name": "key"}, {"text": "Key", "objs": ["original-87"], "id": 87, "name": "key"}, {"text": "Key", "objs": ["original-86"], "id": 88, "name": "key"}, {"text": "Key", "objs": ["original-85"], "id": 89, "name": "key"}, {"text": "Key", "objs": ["original-88"], "id": 90, "name": "key"}, {"text": "Key", "objs": ["original-91"], "id": 91, "name": "key"}, {"text": "Key", "objs": ["original-89"], "id": 92, "name": "key"}, {"text": "Key", "objs": ["original-90"], "id": 93, "name": "key"}, {"text": "Key", "objs": ["original-92"], "id": 94, "name": "key"}, {"text": "Key", "objs": ["original-94"], "id": 95, "name": "key"}, {"text": "Key", "objs": ["original-93"], "id": 96, "name": "key"}, {"text": "Key", "objs": ["original-33"], "id": 97, "name": "key"}, {"text": "Key", "objs": ["original-14"], "id": 98, "name": "key"}, {"text": "Key", "objs": ["original-26"], "id": 99, "name": "key"}, {"text": "Key", "objs": ["original-42"], "id": 100, "name": "key"}, {"text": "Key", "objs": ["original-62"], "id": 101, "name": "key"}, {"text": "Key", "objs": ["original-60"], "id": 102, "name": "key"}, {"text": "Frame", "objs": ["original-104", "original-103"], "id": 114, "name": "frame"}, {"text": "Key", "objs": ["original-80"], "id": 115, "name": "key"}], "id": 0, "name": "keyboard"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/result_after_merging.json b/data/PartNet-Mobility/Keyboard/12838/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd7468740e8f49be8c395431a37935c1407909e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/result_after_merging.json
@@ -0,0 +1 @@
+[{"objs": ["original-3", "original-6", "original-17", "original-20", "original-32", "original-46", "original-19", "original-7", "original-58", "original-41", "original-24", "original-23", "original-49", "original-15", "original-30", "original-9", "original-21", "original-5", "original-50", "original-13", "original-43", "original-8", "original-95", "original-96", "original-97", "original-98", "original-66", "original-65", "original-64", "original-67", "original-63", "original-68", "original-69", "original-79", "original-71", "original-70", "original-72", "original-75", "original-73", "original-74", "original-78", "original-76", "original-77", "original-39", "original-54", "original-48", "original-53", "original-56", "original-52", "original-10", "original-61", "original-16", "original-37", "original-27", "original-40", "original-34", "original-29", "original-25", "original-35", "original-36", "original-31", "original-45", "original-18", "original-12", "original-47", "original-51", "original-2", "original-11", "original-38", "original-4", "original-59", "original-28", "original-22", "original-44", "original-55", "original-57", "original-99", "original-101", "original-100", "original-102", "original-81", "original-82", "original-83", "original-84", "original-87", "original-86", "original-85", "original-88", "original-91", "original-89", "original-90", "original-92", "original-94", "original-93", "original-33", "original-14", "original-26", "original-42", "original-62", "original-60", "original-104", "original-103", "original-80"], "children": [{"name": "key", "objs": ["original-3"], "text": "key", "ori_id": 2, "id": 1}, {"name": "key", "objs": ["original-6"], "text": "key", "ori_id": 3, "id": 2}, {"name": "key", "objs": ["original-17"], "text": "key", "ori_id": 4, "id": 3}, {"name": "key", "objs": ["original-20"], "text": "key", "ori_id": 5, "id": 4}, {"name": "key", "objs": ["original-32"], "text": "key", "ori_id": 6, "id": 5}, {"name": "key", "objs": ["original-46"], "text": "key", "ori_id": 7, "id": 6}, {"name": "key", "objs": ["original-19"], "text": "key", "ori_id": 8, "id": 7}, {"name": "key", "objs": ["original-7"], "text": "key", "ori_id": 9, "id": 8}, {"name": "key", "objs": ["original-58"], "text": "key", "ori_id": 10, "id": 9}, {"name": "key", "objs": ["original-41"], "text": "key", "ori_id": 11, "id": 10}, {"name": "key", "objs": ["original-24"], "text": "key", "ori_id": 12, "id": 11}, {"name": "key", "objs": ["original-23"], "text": "key", "ori_id": 13, "id": 12}, {"name": "key", "objs": ["original-49"], "text": "key", "ori_id": 14, "id": 13}, {"name": "key", "objs": ["original-15"], "text": "key", "ori_id": 15, "id": 14}, {"name": "key", "objs": ["original-30"], "text": "key", "ori_id": 16, "id": 15}, {"name": "key", "objs": ["original-9"], "text": "key", "ori_id": 17, "id": 16}, {"name": "key", "objs": ["original-21"], "text": "key", "ori_id": 18, "id": 17}, {"name": "key", "objs": ["original-5"], "text": "key", "ori_id": 19, "id": 18}, {"name": "key", "objs": ["original-50"], "text": "key", "ori_id": 20, "id": 19}, {"name": "key", "objs": ["original-13"], "text": "key", "ori_id": 21, "id": 20}, {"name": "key", "objs": ["original-43"], "text": "key", "ori_id": 22, "id": 21}, {"name": "key", "objs": ["original-8"], "text": "key", "ori_id": 23, "id": 22}, {"name": "key", "objs": ["original-95"], "text": "key", "ori_id": 24, "id": 23}, {"name": "key", "objs": ["original-96"], "text": "key", "ori_id": 25, "id": 24}, {"name": "key", "objs": ["original-97"], "text": "key", "ori_id": 26, "id": 25}, {"name": "key", "objs": ["original-98"], "text": "key", "ori_id": 27, "id": 26}, {"name": "key", "objs": ["original-66"], "text": "key", "ori_id": 28, "id": 27}, {"name": "key", "objs": ["original-65"], "text": "key", "ori_id": 29, "id": 28}, {"name": "key", "objs": ["original-64"], "text": "key", "ori_id": 30, "id": 29}, {"name": "key", "objs": ["original-67"], "text": "key", "ori_id": 31, "id": 30}, {"name": "key", "objs": ["original-63"], "text": "key", "ori_id": 32, "id": 31}, {"name": "key", "objs": ["original-68"], "text": "key", "ori_id": 33, "id": 32}, {"name": "key", "objs": ["original-69"], "text": "key", "ori_id": 34, "id": 33}, {"name": "key", "objs": ["original-79"], "text": "key", "ori_id": 35, "id": 34}, {"name": "key", "objs": ["original-71"], "text": "key", "ori_id": 36, "id": 35}, {"name": "key", "objs": ["original-70"], "text": "key", "ori_id": 37, "id": 36}, {"name": "key", "objs": ["original-72"], "text": "key", "ori_id": 38, "id": 37}, {"name": "key", "objs": ["original-75"], "text": "key", "ori_id": 39, "id": 38}, {"name": "key", "objs": ["original-73"], "text": "key", "ori_id": 40, "id": 39}, {"name": "key", "objs": ["original-74"], "text": "key", "ori_id": 41, "id": 40}, {"name": "key", "objs": ["original-78"], "text": "key", "ori_id": 42, "id": 41}, {"name": "key", "objs": ["original-76"], "text": "key", "ori_id": 43, "id": 42}, {"name": "key", "objs": ["original-77"], "text": "key", "ori_id": 44, "id": 43}, {"name": "key", "objs": ["original-39"], "text": "key", "ori_id": 45, "id": 44}, {"name": "key", "objs": ["original-54"], "text": "key", "ori_id": 46, "id": 45}, {"name": "key", "objs": ["original-48"], "text": "key", "ori_id": 47, "id": 46}, {"name": "key", "objs": ["original-53"], "text": "key", "ori_id": 48, "id": 47}, {"name": "key", "objs": ["original-56"], "text": "key", "ori_id": 49, "id": 48}, {"name": "key", "objs": ["original-52"], "text": "key", "ori_id": 50, "id": 49}, {"name": "key", "objs": ["original-10"], "text": "key", "ori_id": 51, "id": 50}, {"name": "key", "objs": ["original-61"], "text": "key", "ori_id": 52, "id": 51}, {"name": "key", "objs": ["original-16"], "text": "key", "ori_id": 53, "id": 52}, {"name": "key", "objs": ["original-37"], "text": "key", "ori_id": 54, "id": 53}, {"name": "key", "objs": ["original-27"], "text": "key", "ori_id": 55, "id": 54}, {"name": "key", "objs": ["original-40"], "text": "key", "ori_id": 56, "id": 55}, {"name": "key", "objs": ["original-34"], "text": "key", "ori_id": 57, "id": 56}, {"name": "key", "objs": ["original-29"], "text": "key", "ori_id": 58, "id": 57}, {"name": "key", "objs": ["original-25"], "text": "key", "ori_id": 59, "id": 58}, {"name": "key", "objs": ["original-35"], "text": "key", "ori_id": 60, "id": 59}, {"name": "key", "objs": ["original-36"], "text": "key", "ori_id": 61, "id": 60}, {"name": "key", "objs": ["original-31"], "text": "key", "ori_id": 62, "id": 61}, {"name": "key", "objs": ["original-45"], "text": "key", "ori_id": 63, "id": 62}, {"name": "key", "objs": ["original-18"], "text": "key", "ori_id": 64, "id": 63}, {"name": "key", "objs": ["original-12"], "text": "key", "ori_id": 65, "id": 64}, {"name": "key", "objs": ["original-47"], "text": "key", "ori_id": 66, "id": 65}, {"name": "key", "objs": ["original-51"], "text": "key", "ori_id": 67, "id": 66}, {"name": "key", "objs": ["original-2"], "text": "key", "ori_id": 68, "id": 67}, {"name": "key", "objs": ["original-11"], "text": "key", "ori_id": 69, "id": 68}, {"name": "key", "objs": ["original-38"], "text": "key", "ori_id": 70, "id": 69}, {"name": "key", "objs": ["original-4"], "text": "key", "ori_id": 71, "id": 70}, {"name": "key", "objs": ["original-59"], "text": "key", "ori_id": 72, "id": 71}, {"name": "key", "objs": ["original-28"], "text": "key", "ori_id": 73, "id": 72}, {"name": "key", "objs": ["original-22"], "text": "key", "ori_id": 74, "id": 73}, {"name": "key", "objs": ["original-44"], "text": "key", "ori_id": 75, "id": 74}, {"name": "key", "objs": ["original-55"], "text": "key", "ori_id": 76, "id": 75}, {"name": "key", "objs": ["original-57"], "text": "key", "ori_id": 77, "id": 76}, {"name": "key", "objs": ["original-99"], "text": "key", "ori_id": 78, "id": 77}, {"name": "key", "objs": ["original-101"], "text": "key", "ori_id": 79, "id": 78}, {"name": "key", "objs": ["original-100"], "text": "key", "ori_id": 80, "id": 79}, {"name": "key", "objs": ["original-102"], "text": "key", "ori_id": 81, "id": 80}, {"name": "key", "objs": ["original-81"], "text": "key", "ori_id": 83, "id": 81}, {"name": "key", "objs": ["original-82"], "text": "key", "ori_id": 84, "id": 82}, {"name": "key", "objs": ["original-83"], "text": "key", "ori_id": 85, "id": 83}, {"name": "key", "objs": ["original-84"], "text": "key", "ori_id": 86, "id": 84}, {"name": "key", "objs": ["original-87"], "text": "key", "ori_id": 87, "id": 85}, {"name": "key", "objs": ["original-86"], "text": "key", "ori_id": 88, "id": 86}, {"name": "key", "objs": ["original-85"], "text": "key", "ori_id": 89, "id": 87}, {"name": "key", "objs": ["original-88"], "text": "key", "ori_id": 90, "id": 88}, {"name": "key", "objs": ["original-91"], "text": "key", "ori_id": 91, "id": 89}, {"name": "key", "objs": ["original-89"], "text": "key", "ori_id": 92, "id": 90}, {"name": "key", "objs": ["original-90"], "text": "key", "ori_id": 93, "id": 91}, {"name": "key", "objs": ["original-92"], "text": "key", "ori_id": 94, "id": 92}, {"name": "key", "objs": ["original-94"], "text": "key", "ori_id": 95, "id": 93}, {"name": "key", "objs": ["original-93"], "text": "key", "ori_id": 96, "id": 94}, {"name": "key", "objs": ["original-33"], "text": "key", "ori_id": 97, "id": 95}, {"name": "key", "objs": ["original-14"], "text": "key", "ori_id": 98, "id": 96}, {"name": "key", "objs": ["original-26"], "text": "key", "ori_id": 99, "id": 97}, {"name": "key", "objs": ["original-42"], "text": "key", "ori_id": 100, "id": 98}, {"name": "key", "objs": ["original-62"], "text": "key", "ori_id": 101, "id": 99}, {"name": "key", "objs": ["original-60"], "text": "key", "ori_id": 102, "id": 100}, {"name": "frame", "objs": ["original-104", "original-103"], "text": "frame", "ori_id": 114, "id": 101}, {"name": "key", "objs": ["original-80"], "text": "key", "ori_id": 115, "id": 102}], "id": 0, "ori_id": 0, "name": "keyboard", "text": "keyboard"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/semantics.txt b/data/PartNet-Mobility/Keyboard/12838/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2dde7175b9c1e0602e1a96cf547cd6786a4837ff
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/semantics.txt
@@ -0,0 +1,102 @@
+link_0 slider key
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
+link_15 slider key
+link_16 slider key
+link_17 slider key
+link_18 slider key
+link_19 slider key
+link_20 slider key
+link_21 slider key
+link_22 slider key
+link_23 slider key
+link_24 slider key
+link_25 slider key
+link_26 slider key
+link_27 slider key
+link_28 slider key
+link_29 slider key
+link_30 slider key
+link_31 slider key
+link_32 slider key
+link_33 slider key
+link_34 slider key
+link_35 slider key
+link_36 slider key
+link_37 slider key
+link_38 slider key
+link_39 slider key
+link_40 slider key
+link_41 slider key
+link_42 slider key
+link_43 slider key
+link_44 slider key
+link_45 slider key
+link_46 slider key
+link_47 slider key
+link_48 slider key
+link_49 slider key
+link_50 slider key
+link_51 slider key
+link_52 slider key
+link_53 slider key
+link_54 slider key
+link_55 slider key
+link_56 slider key
+link_57 slider key
+link_58 slider key
+link_59 slider key
+link_60 slider key
+link_61 slider key
+link_62 slider key
+link_63 slider key
+link_64 slider key
+link_65 slider key
+link_66 slider key
+link_67 slider key
+link_68 slider key
+link_69 slider key
+link_70 slider key
+link_71 slider key
+link_72 slider key
+link_73 slider key
+link_74 slider key
+link_75 slider key
+link_76 slider key
+link_77 slider key
+link_78 slider key
+link_79 slider key
+link_80 slider key
+link_81 slider key
+link_82 slider key
+link_83 slider key
+link_84 slider key
+link_85 slider key
+link_86 slider key
+link_87 slider key
+link_88 slider key
+link_89 slider key
+link_90 slider key
+link_91 slider key
+link_92 slider key
+link_93 slider key
+link_94 slider key
+link_95 slider key
+link_96 slider key
+link_97 slider key
+link_98 slider key
+link_99 slider key
+link_100 free keyboard_base
+link_101 slider key
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-10.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-10.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7d9e21f7c87cb7d8afa2e16ddfff9fec2bfca3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-10.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-100.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-100.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/Keyboard/12838/textured_objs/original-100.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92996f8433a2bcfe863709aad9dd05414451d69e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-100.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-101.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-101.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/Keyboard/12838/textured_objs/original-101.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..158d81d5922e671f150747991d72db7305e0cd1b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-101.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-102.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-102.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/Keyboard/12838/textured_objs/original-102.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..667679d51f6bb26cd3327a4a56f0797fe78dcd90
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-102.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-103.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-103.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/Keyboard/12838/textured_objs/original-103.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fedd5a84869dfa5017c34be0d0ca2f76a286d08
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-103.obj
@@ -0,0 +1,1223 @@
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+mtllib original-103.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-104.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-104.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/Keyboard/12838/textured_objs/original-104.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c82d951ccfdacb2c843116023c52bfe9f4a084a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-104.obj
@@ -0,0 +1,16592 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-11.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-11.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b873a5afcc3c5cd75dc86a7761fa883ed91c0e5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-12.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-12.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f3ec3d6b67df1be07c29fdf5c1eeeec4cbbf88c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-12.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..220b6e4a4c23647e96d4379342e0dd93c9fe16bc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-13.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-14.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-14.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed86bdbaf6cca8ea5f2ceab18254c2f77192e1f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-15.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-15.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30184c94b80aed3293d62fba504ef88c7273216d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-15.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..373787baa92c7a432b003107f2ca09a0051e2457
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-17.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-17.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754d2ad01d286728d7bca8730f7a863acc1eb6bd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-17.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-18.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-18.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/Keyboard/12838/textured_objs/original-18.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26c8608c03d41a8a441b219198a348965c85897
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-18.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-19.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-19.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/Keyboard/12838/textured_objs/original-19.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e4b205e903d26e4f5624f6c8a483868a7ffd335
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-2.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-2.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6242d6213b1b5b8cd84abd88925e96fe2d052b8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-2.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-20.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-20.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6c61eb763456a301d1d421e0fcfc0cdb6ce3189
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-21.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-21.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/Keyboard/12838/textured_objs/original-21.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9365c9c3a85cb4e93afc9d13dee6a7a5c6fc688
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-21.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf9407d3a0d7760622537d4c17c508b66438d5d3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.mtl
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+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7968cc766d0f3a2caa99eb6e5e308a279a7385d7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-24.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-24.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a658468184198697b0bc44e131f42799dea1ecf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-24.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-25.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-25.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05a032a3cb4c0e79699ea1fa01b350189559c655
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-25.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-26.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-26.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2f1075b5bbc3498c29280b00d9dbdfbcc8d1a29
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-26.obj
@@ -0,0 +1,1028 @@
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+# 26
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b47bb9af594237f58dc46473b9435015f2b78ee
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-27.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-28.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-28.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc9f95a56face1e5b6eb29c8a627f9ad43530420
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-29.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-29.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca46db51d020fecc8add45e9e62ef697ba87906
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-29.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-3.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-3.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/Keyboard/12838/textured_objs/original-3.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc75e7f3dcfb40c3fa186617c37d987627a7c0fc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-3.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-30.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-30.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5481a2a01c97316af13d5601da058ba3defef4d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-30.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-31.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-31.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39141e834fcbac23258bd05170ef0734afa4ba27
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-31.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-32.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-32.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/Keyboard/12838/textured_objs/original-32.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f5f5601e5a905803d7b61540e762f204ac7bf9e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-33.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-33.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e40dd9ec13f12e9df1250e8396a74c84d01441
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-33.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-34.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-34.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf33d2c831de1aceb2bd6b1f315303b53d70aaa1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-35.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-35.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..704e74876ad64e51c0837e1036092c40739212b2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-35.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.mtl
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+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b28c5b8eb862b002f0922e03026d7584f95cf989
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70eb7a10f05f1d248b60c2ef12e16ffa41ee69b4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-38.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-38.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61b9e43fd365f48ce34957b73a3a583ac16e63d5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-38.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-39.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-39.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..674f64409b8aaa280afc541572189fe1d9d24fa4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-39.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..177f46ddadb30dbb171a58ad1847e99d2780b165
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-4.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-40.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-40.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c8f5d5296969eb860827437259bd9b6741fd1c5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-40.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o Group40/mesh39/mesh39-geometry#mesh39-geometry
+v -0.197419 0.029242 0.068315
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-41.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-41.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c02be425b38647dd8583a2e8c639adb18101be17
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-42.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-42.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d65c976cc758d845b7578bcc3dc81d704fd7c93d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-42.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-43.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-43.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b308c7eeca6aa3dd48a4f6697d087cacd6e54f8c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-44.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-44.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b097ae5a85434f5414958cfb55e57e989aa6443
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-44.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-45.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-45.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6b2fd61dfae608de8b9d3ea152a8767ae469ea2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-45.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o Group45/mesh44/mesh44-geometry#mesh44-geometry
+v -0.428666 0.029242 0.068315
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-46.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-46.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d9721912f49b4fc96d412f3ec23c438352237a0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-47.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-47.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89caa93993419202e0e750a5afecec8ecbbb9b43
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-47.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-48.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-48.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d8dd0aff4265b62b9565ab085daf84e11a22b2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-49.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-49.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dbae9ce0cda89246bf4199f26809c65ff150863
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-49.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-5.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-5.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/Keyboard/12838/textured_objs/original-5.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496c383754fe2551705c0a7c79709697bef2906d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-5.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o Group5/mesh4/mesh4-geometry#mesh4-geometry
+v 0.002600 0.029242 -0.008703
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-50.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-50.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dbae5e3da01bbfc9f3422f23f466ea1ada93a76
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-51.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-51.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f90f14bbfad17e22470d6cce41e5d4284371a572
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-51.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-52.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-52.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1c3116c894cb4536bb2d13016e95c6ecf8bf3cb
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-53.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-53.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee45d5602a767a6cf89c53725aa6538808bd92c4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-53.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-54.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-54.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..645f1931ad81685eeb90df1a655739c81a12cd1c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-54.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-55.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-55.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fde18602f4b60ee2fcbaa42c2787de99a82a6971
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-55.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-56.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-56.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1b42b5cef827cde7ff019c683778a59dc5a26e7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-56.obj
@@ -0,0 +1,1028 @@
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+# 56
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfb827e249edb3f030af570078066395766a531a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-57.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-58.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-58.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e29bb3a48246eb8ac3f13891468a6e1747012402
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-59.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-59.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/Keyboard/12838/textured_objs/original-59.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d07173e192ecf41d553b6a05b95c1c4a047196c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-59.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-6.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-6.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10bb92b710eafaf9f89013a0ed75831ca101a3c1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-6.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-60.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-60.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83d0b13e3bd5395cd5ede1829f7a115d7008f8ab
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-60.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10b58e71f4903e53d634c249013c4399628ba62f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-62.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-62.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08f3e2c675d9785ea280231e1927c7fe40b3d4e7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-62.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-63.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-63.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3da788662dfc2dc7d03f8867a6a931542497ba1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-63.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-64.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-64.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2a2dcf0a7222adc7b6e360713ad82099ea6d07
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-64.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-65.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-65.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04b6e6b310eaf3a9db3cac5bc0fb5b618cc28f91
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-65.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-66.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-66.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/Keyboard/12838/textured_objs/original-66.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bfc429bab775a8db16f5c7b33db3166c5b7abd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-66.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-67.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-67.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/Keyboard/12838/textured_objs/original-67.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b01c599552da2c16cca90a9190f9d50aee9cfd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-67.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be29a58d5f169482581689428682ef5d4dfb529e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-68.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-69.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-69.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/Keyboard/12838/textured_objs/original-69.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74933b8063e0d6fbf59c11007a06ee99906e8101
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-7.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-7.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/Keyboard/12838/textured_objs/original-7.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d39355ae1828df867b590064201cdff5f4d31168
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-7.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..547607c097c6fcdc6a6cbfe87eaa93bf5a5b842b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-70.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-71.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-71.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/Keyboard/12838/textured_objs/original-71.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e36930c34fa64aadba3927e5e67912f4aa170cc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-71.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-72.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-72.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/Keyboard/12838/textured_objs/original-72.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a49ae9289c570cdf1b43ade414f9c36de0071d9d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-72.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-73.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-73.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/Keyboard/12838/textured_objs/original-73.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..527b0b5abc497489ed97dafa595afc334ce0290b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-73.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-74.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-74.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/Keyboard/12838/textured_objs/original-74.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3eda00211998ad8e5f12364a3933dc9b4e31773b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-74.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 74
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-75.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-75.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/Keyboard/12838/textured_objs/original-75.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0250eab0fbe63ecf893c7504db1b2a64f7d6c878
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-75.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o Group75/mesh74/mesh74-geometry#mesh74-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-76.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-76.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/Keyboard/12838/textured_objs/original-76.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..363f9e468bcb717f91afc8c70476b342971a9919
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-76.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-77.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-77.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/Keyboard/12838/textured_objs/original-77.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..571aa3f877f830e94bc84a4ba41267905e8f7822
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-77.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92d1a8aaacb8ed00eed7018831db2eadd54a77e9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-79.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-79.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/Keyboard/12838/textured_objs/original-79.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99dadd7be5f596b9c84c0fc5d6ee70f9066d660
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-79.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-8.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/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/Keyboard/12838/textured_objs/original-8.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f481714a3425b139393c1d3c9446229a6396d5f4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-8.obj
@@ -0,0 +1,1028 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-80.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-80.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/Keyboard/12838/textured_objs/original-80.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d46f8f2bd0e861a6e5837e449190da7270b9e1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-80.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-81.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-81.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/Keyboard/12838/textured_objs/original-81.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..821c07cc2fb983f9d042bb5bc1c9b12bef289f89
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-82.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-82.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/Keyboard/12838/textured_objs/original-82.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1917d067084b547f36d23f96fb00cafeb2767c48
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-82.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-83.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-83.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/Keyboard/12838/textured_objs/original-83.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1062a70ff16d043297458034db2700f8c70908cc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-83.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-84.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-84.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/Keyboard/12838/textured_objs/original-84.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801a428df7a5d8228d33040e0068f837e6869277
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-85.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-85.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/Keyboard/12838/textured_objs/original-85.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb932fe64275419426a62beb94f67bb5ef595c95
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-85.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-86.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-86.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/Keyboard/12838/textured_objs/original-86.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47537327baa281a79d3bf9ca3b23d7d580f9a618
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-86.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-87.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-87.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/Keyboard/12838/textured_objs/original-87.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..354477796def59685114e75d1cad3ac6e5fcbf35
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-87.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-88.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-88.mtl
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+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/Keyboard/12838/textured_objs/original-88.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ae0c5d064747e51838b8d2233a566749a182e90
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-89.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-89.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/Keyboard/12838/textured_objs/original-89.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30e349a2ceb1fdd9b07cc20174205837ac25f18f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-89.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5aab5fd85fc462ec1564fc533139de0f81182b85
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-9.obj
@@ -0,0 +1,1028 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-90.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-90.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/Keyboard/12838/textured_objs/original-90.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6ec796921049e2458be5209bf2b09a7e6fbaf03
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-90.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-91.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-91.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/Keyboard/12838/textured_objs/original-91.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a722c71512e416a6ee8e5704510a983f8e5f4a9f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-91.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-92.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-92.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/Keyboard/12838/textured_objs/original-92.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a918bdff7b5f2161b652d4f699d4006072520edd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-92.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-93.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-93.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/Keyboard/12838/textured_objs/original-93.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe35f060b1805061114594309adf19f4517d3539
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-93.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-94.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-94.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/Keyboard/12838/textured_objs/original-94.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6888d5f013a1fe791ddfadf81a324ea0379392f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-94.obj
@@ -0,0 +1,981 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-95.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-95.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/Keyboard/12838/textured_objs/original-95.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b91f0824c7abca9867b6690d9da0b4d9fffe4e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-95.obj
@@ -0,0 +1,997 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-96.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-96.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/Keyboard/12838/textured_objs/original-96.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a5cdf3fcf380a40d2e1479a84d151bcbb86406
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-96.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-97.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-97.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/Keyboard/12838/textured_objs/original-97.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00bef5f97be0d1b607e6b92596c5bc2a4836f000
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-97.obj
@@ -0,0 +1,997 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-98.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-98.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/Keyboard/12838/textured_objs/original-98.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c166ca2ab286c530be8f327a4af95df39d385643
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-98.obj
@@ -0,0 +1,997 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.mtl b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.obj b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8682ebd16048c5d36fd8b7be246afbfa2cb50131
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/textured_objs/original-99.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 99
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+f 156//131 146//122 163//141
+f 163//142 146//123 156//132
+f 153//3 156//3 164//3
+f 164//4 156//4 153//4
+f 153//3 164//3 157//3
+f 157//4 164//4 153//4
+f 147//3 157//3 158//3
+f 158//4 157//4 147//4
+f 158//3 165//3 148//3
+f 148//4 165//4 158//4
+f 148//125 166//143 159//133
+f 159//134 166//144 148//126
+f 160//135 161//145 151//127
+f 151//128 161//146 160//136
+f 154//3 161//3 167//3
+f 167//4 161//4 154//4
+f 154//3 168//3 162//3
+f 162//4 168//4 154//4
+f 168//147 155//139 162//137
+f 162//138 155//140 168//148
+f 156//131 163//141 164//149
+f 164//150 163//142 156//132
+f 164//149 169//151 157//152
+f 157//153 169//154 164//150
+f 157//152 170//155 158//156
+f 158//157 170//158 157//153
+f 158//3 171//3 165//3
+f 165//4 171//4 158//4
+f 165//3 166//3 148//3
+f 148//4 166//4 165//4
+f 166//143 172//159 159//133
+f 159//134 172//160 166//144
+f 173//161 161//145 160//135
+f 160//136 161//146 173//162
+f 167//3 161//3 174//3
+f 174//4 161//4 167//4
+f 154//3 167//3 168//3
+f 168//4 167//4 154//4
+f 168//147 175//163 155//139
+f 155//140 175//164 168//148
+f 164//149 163//141 169//151
+f 169//154 163//142 164//150
+f 157//152 169//151 170//155
+f 170//158 169//154 157//153
+f 158//156 170//155 176//165
+f 176//166 170//158 158//157
+f 158//3 177//3 171//3
+f 171//4 177//4 158//4
+f 165//167 171//168 178//169
+f 178//170 171//171 165//172
+f 166//143 165//167 172//159
+f 172//160 165//172 166//144
+f 173//161 179//173 161//145
+f 161//146 179//174 173//162
+f 174//3 161//3 180//3
+f 180//4 161//4 174//4
+f 181//175 167//176 174//177
+f 174//178 167//179 181//180
+f 168//3 167//3 182//3
+f 182//4 167//4 168//4
+f 183//181 175//163 168//147
+f 168//148 175//164 183//182
+f 177//183 158//156 176//165
+f 176//166 158//157 177//184
+f 171//168 177//183 184//185
+f 184//186 177//184 171//171
+f 171//168 185//187 178//169
+f 178//170 185//188 171//171
+f 165//167 178//169 172//159
+f 172//160 178//170 165//172
+f 186//189 179//173 173//161
+f 173//162 179//174 186//190
+f 180//3 161//3 179//3
+f 179//4 161//4 180//4
+f 187//191 174//177 180//192
+f 180//193 174//178 187//194
+f 167//176 181//175 188//195
+f 188//196 181//180 167//179
+f 174//177 187//191 181//175
+f 181//180 187//194 174//178
+f 167//176 188//195 182//197
+f 182//198 188//196 167//179
+f 168//3 182//3 183//3
+f 183//4 182//4 168//4
+f 183//181 189//199 175//163
+f 175//164 189//200 183//182
+f 177//183 176//165 184//185
+f 184//186 176//166 177//184
+f 171//168 184//185 185//187
+f 185//188 184//186 171//171
+f 186//189 180//192 179//173
+f 179//174 180//193 186//190
+f 187//191 180//192 190//201
+f 190//202 180//193 187//194
+f 182//197 188//195 189//199
+f 189//200 188//196 182//198
+f 182//197 189//199 183//181
+f 183//182 189//200 182//198
+f 190//201 180//192 186//189
+f 186//190 180//193 190//202
diff --git a/data/PartNet-Mobility/Keyboard/12838/tree_hier.html b/data/PartNet-Mobility/Keyboard/12838/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..1db80a168f6aaf5a63eda87a29c3b26d6dc24af4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 key Key</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key Key</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key Key</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key Key</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key Key</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key Key</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key Key</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key Key</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key Key</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key Key</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key Key</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key Key</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key Key</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key Key</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key Key</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key Key</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key Key</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key Key</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key Key</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key Key</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key Key</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key Key</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key Key</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key Key</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key Key</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key Key</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key Key</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key Key</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key Key</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key Key</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key Key</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key Key</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key Key</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key Key</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key Key</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key Key</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key Key</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key Key</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key Key</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key Key</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key Key</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key Key</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key Key</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key Key</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key Key</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key Key</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key Key</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key Key</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key Key</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key Key</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key Key</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key Key</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key Key</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key Key</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key Key</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key Key</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key Key</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key Key</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key Key</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key Key</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key Key</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key Key</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key Key</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key Key</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key Key</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key Key</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key Key</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key Key</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key Key</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key Key</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key Key</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key Key</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key Key</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key Key</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key Key</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key Key</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key Key</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key Key</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key Key</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key Key</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key Key</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key Key</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key Key</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key Key</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key Key</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key Key</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key Key</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key Key</p><a href="parts_render/90.png"><img src="parts_render/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key Key</p><a href="parts_render/91.png"><img src="parts_render/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key Key</p><a href="parts_render/92.png"><img src="parts_render/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key Key</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key Key</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key Key</p><a href="parts_render/95.png"><img src="parts_render/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key Key</p><a href="parts_render/96.png"><img src="parts_render/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key Key</p><a href="parts_render/97.png"><img src="parts_render/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key Key</p><a href="parts_render/98.png"><img src="parts_render/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key Key</p><a href="parts_render/99.png"><img src="parts_render/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key Key</p><a href="parts_render/100.png"><img src="parts_render/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key Key</p><a href="parts_render/101.png"><img src="parts_render/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key Key</p><a href="parts_render/102.png"><img src="parts_render/102.png" width="100px" height="100px"/></a></td><td></td><td><p>114 frame Frame</p><a href="parts_render/114.png"><img src="parts_render/114.png" width="100px" height="100px"/></a></td><td></td><td><p>115 key Key</p><a href="parts_render/115.png"><img src="parts_render/115.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/tree_hier_after_merging.html b/data/PartNet-Mobility/Keyboard/12838/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..c64b99e9a1bb07219e4c5bcfbbcae20bbdf84eb1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 key key</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key key</p><a href="parts_render_after_merging/79.png"><img src="parts_render_after_merging/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key key</p><a href="parts_render_after_merging/80.png"><img src="parts_render_after_merging/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key key</p><a href="parts_render_after_merging/81.png"><img src="parts_render_after_merging/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key key</p><a href="parts_render_after_merging/82.png"><img src="parts_render_after_merging/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key key</p><a href="parts_render_after_merging/83.png"><img src="parts_render_after_merging/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key key</p><a href="parts_render_after_merging/84.png"><img src="parts_render_after_merging/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key key</p><a href="parts_render_after_merging/85.png"><img src="parts_render_after_merging/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key key</p><a href="parts_render_after_merging/86.png"><img src="parts_render_after_merging/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key key</p><a href="parts_render_after_merging/87.png"><img src="parts_render_after_merging/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key key</p><a href="parts_render_after_merging/88.png"><img src="parts_render_after_merging/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key key</p><a href="parts_render_after_merging/89.png"><img src="parts_render_after_merging/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key key</p><a href="parts_render_after_merging/90.png"><img src="parts_render_after_merging/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key key</p><a href="parts_render_after_merging/91.png"><img src="parts_render_after_merging/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key key</p><a href="parts_render_after_merging/92.png"><img src="parts_render_after_merging/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key key</p><a href="parts_render_after_merging/93.png"><img src="parts_render_after_merging/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key key</p><a href="parts_render_after_merging/94.png"><img src="parts_render_after_merging/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key key</p><a href="parts_render_after_merging/95.png"><img src="parts_render_after_merging/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key key</p><a href="parts_render_after_merging/96.png"><img src="parts_render_after_merging/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key key</p><a href="parts_render_after_merging/97.png"><img src="parts_render_after_merging/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key key</p><a href="parts_render_after_merging/98.png"><img src="parts_render_after_merging/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key key</p><a href="parts_render_after_merging/99.png"><img src="parts_render_after_merging/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key key</p><a href="parts_render_after_merging/100.png"><img src="parts_render_after_merging/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 frame frame</p><a href="parts_render_after_merging/101.png"><img src="parts_render_after_merging/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key key</p><a href="parts_render_after_merging/102.png"><img src="parts_render_after_merging/102.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12851/bounding_box.json b/data/PartNet-Mobility/Keyboard/12851/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e98608828dad224ba01b24389369ab7f7507170
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.564099, -0.044326, -0.955755], "max": [0.808598, 0.042667, 0.240498]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12851/meta.json b/data/PartNet-Mobility/Keyboard/12851/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d253e5477d3f8cef4739ca6c6e3abd4b58b146e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/meta.json
@@ -0,0 +1 @@
+{"model_id": "3d839aa532198b3923c841f9d5051936", "anno_id": "12851", "user_id": "yz-zhangl", "time_in_sec": "309", "version": "2", "model_cat": "Keyboard"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12851/mobility.urdf b/data/PartNet-Mobility/Keyboard/12851/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd01db848a1642c7b685c4f99e728088efd112f0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/mobility.urdf
@@ -0,0 +1,2324 @@
+<?xml version="1.0" ?>
+<robot name="partnet_3d839aa532198b3923c841f9d5051936">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<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-121.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.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-121.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-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<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="key-3">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_2">
+		<visual name="key-4">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_3">
+		<visual name="key-5">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_4">
+		<visual name="key-6">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_4"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_5">
+		<visual name="key-7">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_5"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_6">
+		<visual name="key-8">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_6"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_7">
+		<visual name="key-9">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_7"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_8">
+		<visual name="key-10">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_8"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_9">
+		<visual name="key-11">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_9"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_10">
+		<visual name="key-12">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_10"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_11">
+		<visual name="key-13">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_11"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_12">
+		<visual name="key-14">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_12"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_13">
+		<visual name="key-15">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_13"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_14">
+		<visual name="key-16">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_14"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_15">
+		<visual name="key-17">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_15"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_16">
+		<visual name="key-18">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_16"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_17">
+		<visual name="key-19">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_17"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_18">
+		<visual name="key-20">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_18"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_19">
+		<visual name="key-21">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_19"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_20">
+		<visual name="key-22">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_20"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_21">
+		<visual name="key-23">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_21"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-24">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_22"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-25">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_23"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-26">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_24"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-27">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_25"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-28">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_26"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-29">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_27"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-30">
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+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_28"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-31">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</visual>
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+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_29"/>
+		<parent link="link_0"/>
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+	</joint>
+	<link name="link_30">
+		<visual name="key-32">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<child link="link_30"/>
+		<parent link="link_0"/>
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+	</joint>
+	<link name="link_31">
+		<visual name="key-33">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_31"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+	<link name="link_32">
+		<visual name="key-34">
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+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_32"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_33">
+		<visual name="key-35">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_33"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_34">
+		<visual name="key-36">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_34" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_34"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_35">
+		<visual name="key-37">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_35"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_36">
+		<visual name="key-38">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_36"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_37">
+		<visual name="key-39">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_37"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_38">
+		<visual name="key-40">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_38"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-41">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_39"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-42">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_40"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+	<link name="link_41">
+		<visual name="key-43">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_41"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+	<link name="link_42">
+		<visual name="key-44">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_42"/>
+		<parent link="link_0"/>
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+	<link name="link_43">
+		<visual name="key-45">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_43"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+		<visual name="key-46">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_44"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+		<visual name="key-47">
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+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_45"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+		<visual name="key-48">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_46"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+	<link name="link_47">
+		<visual name="key-49">
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+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_47"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-50">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_48"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-51">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_49"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-52">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_50"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<child link="link_51"/>
+		<parent link="link_0"/>
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+			<geometry>
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+			</geometry>
+		</collision>
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+		<child link="link_52"/>
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+			<geometry>
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+			</geometry>
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+		<child link="link_53"/>
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+			<geometry>
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+			</geometry>
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+		<child link="link_54"/>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
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+		<child link="link_55"/>
+		<parent link="link_0"/>
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+			<geometry>
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+			</geometry>
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+		<child link="link_56"/>
+		<parent link="link_0"/>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<child link="link_57"/>
+		<parent link="link_0"/>
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+		<visual name="key-60">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<child link="link_58"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
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+	<link name="link_59">
+		<visual name="key-61">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_59"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-62">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
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+			<geometry>
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+	</link>
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+		<child link="link_60"/>
+		<parent link="link_0"/>
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+		<visual name="key-63">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<child link="link_61"/>
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+			<geometry>
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+			<geometry>
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+		</collision>
+	</link>
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+		<child link="link_62"/>
+		<parent link="link_0"/>
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+	<link name="link_63">
+		<visual name="key-65">
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+			<geometry>
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+			<geometry>
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+	</link>
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+		<child link="link_63"/>
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+		<visual name="key-66">
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+			<geometry>
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+		<child link="link_64"/>
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+			<geometry>
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+		</collision>
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+		<child link="link_65"/>
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+		<visual name="key-68">
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+			<geometry>
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+			<geometry>
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+		<child link="link_66"/>
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+		<visual name="key-69">
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+			<geometry>
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+		<child link="link_67"/>
+		<parent link="link_0"/>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
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+		</collision>
+	</link>
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+		<child link="link_68"/>
+		<parent link="link_0"/>
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+			<geometry>
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+		<child link="link_69"/>
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_70" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_70"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_71">
+		<visual name="key-73">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_71" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_71"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_72">
+		<visual name="key-74">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_72" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_72"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_73">
+		<visual name="key-75">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_73" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_73"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_74">
+		<visual name="key-76">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_74" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_74"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_75">
+		<visual name="key-77">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_75" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_75"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_76">
+		<visual name="key-78">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_76" type="prismatic">
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+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_76"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_77">
+		<visual name="key-79">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_77" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_77"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_78">
+		<visual name="key-80">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_78" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_78"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_79">
+		<visual name="key-81">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_79" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_79"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_80">
+		<visual name="key-82">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_80" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_80"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_81">
+		<visual name="key-83">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_81"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_82">
+		<visual name="key-84">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_82" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_82"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_83">
+		<visual name="key-85">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_83" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_83"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_84">
+		<visual name="key-86">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_84" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_84"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_85">
+		<visual name="key-87">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_85" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_85"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_86">
+		<visual name="key-88">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_86" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_86"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_87">
+		<visual name="key-89">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_87" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_87"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_88">
+		<visual name="key-90">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_88" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_88"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_89">
+		<visual name="key-91">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_89" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_89"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_90">
+		<visual name="key-92">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_90" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_90"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_91">
+		<visual name="key-93">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_91" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_91"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_92">
+		<visual name="key-94">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_92" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_92"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_93">
+		<visual name="key-95">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_93" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_93"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_94">
+		<visual name="key-96">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_94" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_94"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_95">
+		<visual name="key-97">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_95" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_95"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_96">
+		<visual name="key-98">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_96" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_96"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_97">
+		<visual name="key-99">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_97" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_97"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_98">
+		<visual name="key-100">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_98" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_98"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_99">
+		<visual name="key-101">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_99" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_99"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_100">
+		<visual name="key-102">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_100" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_100"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_101">
+		<visual name="key-103">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_101" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_101"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_102">
+		<visual name="key-104">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_102" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_102"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_103">
+		<visual name="key-105">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_103" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_103"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_104">
+		<visual name="key-106">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_104" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_104"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+	<link name="link_105">
+		<visual name="key-109">
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.383410690362461 -0.01597919835759254 -0.12338694028087716"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_105" type="prismatic">
+		<origin xyz="0.383410690362461 0.01597919835759254 0.12338694028087716"/>
+		<axis xyz="-0.007198407293801628 -0.9968985873573187 -0.07836701766314191"/>
+		<child link="link_105"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.015"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Keyboard/12851/mobility_v2.json b/data/PartNet-Mobility/Keyboard/12851/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..292294eded7bde35898a42a71a21175462ef3ac7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/mobility_v2.json
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diff --git a/data/PartNet-Mobility/Keyboard/12851/point_sample/ply-10000.ply b/data/PartNet-Mobility/Keyboard/12851/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..84240f0e91636a52ddeaeb3ea09f881cb0665d23
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/point_sample/ply-10000.ply
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index 0000000000000000000000000000000000000000..ee480bcd562593a4fd80ce29d3f1214f3e1a59aa
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diff --git a/data/PartNet-Mobility/Keyboard/12851/point_sample/pts-10000.txt b/data/PartNet-Mobility/Keyboard/12851/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b0e95cf2db1bb86eda686681174d4e391de0e909
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..170af7a3e5001f81a27c70b96c994e622a05a794
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6697d369a6b2462a091e011b56df7b32fbbeaee2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7d0227e45c5175c2fb9b63f17ab4a2410ac8ef02
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12851/result.json b/data/PartNet-Mobility/Keyboard/12851/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..609dc82c508cb61d8c1fcf10495042feb1daa901
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/result.json
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72, "name": "key"}, {"text": "Key", "objs": ["original-48"], "id": 73, "name": "key"}, {"text": "Key", "objs": ["original-100"], "id": 74, "name": "key"}, {"text": "Key", "objs": ["original-118"], "id": 75, "name": "key"}, {"text": "Key", "objs": ["original-119"], "id": 76, "name": "key"}, {"text": "Key", "objs": ["original-35"], "id": 77, "name": "key"}, {"text": "Key", "objs": ["original-37"], "id": 78, "name": "key"}, {"text": "Key", "objs": ["original-36"], "id": 79, "name": "key"}, {"text": "Key", "objs": ["original-38"], "id": 80, "name": "key"}, {"text": "Key", "objs": ["original-4"], "id": 81, "name": "key"}, {"text": "Key", "objs": ["original-5"], "id": 82, "name": "key"}, {"text": "Key", "objs": ["original-7"], "id": 83, "name": "key"}, {"text": "Key", "objs": ["original-6"], "id": 84, "name": "key"}, {"text": "Key", "objs": ["original-9"], "id": 85, "name": "key"}, {"text": "Key", "objs": ["original-8"], "id": 86, "name": "key"}, {"text": "Key", "objs": ["original-13"], "id": 87, "name": "key"}, {"text": "Key", "objs": ["original-11"], "id": 88, "name": "key"}, {"text": "Key", "objs": ["original-12"], "id": 89, "name": "key"}, {"text": "Key", "objs": ["original-23"], "id": 90, "name": "key"}, {"text": "Key", "objs": ["original-16"], "id": 91, "name": "key"}, {"text": "Key", "objs": ["original-19"], "id": 92, "name": "key"}, {"text": "Key", "objs": ["original-31"], "id": 93, "name": "key"}, {"text": "Key", "objs": ["original-18"], "id": 94, "name": "key"}, {"text": "Key", "objs": ["original-24"], "id": 95, "name": "key"}, {"text": "Key", "objs": ["original-29"], "id": 96, "name": "key"}, {"text": "Key", "objs": ["original-30"], "id": 97, "name": "key"}, {"text": "Key", "objs": ["original-17"], "id": 98, "name": "key"}, {"text": "Key", "objs": ["original-27"], "id": 99, "name": "key"}, {"text": "Key", "objs": ["original-22"], "id": 100, "name": "key"}, {"text": "Key", "objs": ["original-15"], "id": 101, "name": "key"}, {"text": "Key", "objs": ["original-21"], "id": 102, "name": "key"}, {"text": "Key", "objs": ["original-20"], "id": 103, "name": "key"}, {"text": "Key", "objs": ["original-28"], "id": 104, "name": "key"}, {"text": "Key", "objs": ["original-25"], "id": 105, "name": "key"}, {"text": "Key", "objs": ["original-26"], "id": 106, "name": "key"}, {"text": "mouse (other)", "children": [{"text": "other_leaf", "objs": ["original-138", "original-131", "original-137", "original-132", "original-127", "original-135", "original-139", "original-133", "original-129"], "id": 108, "name": "other_leaf"}], "id": 107, "name": "other"}, {"text": "Key", "objs": ["original-70"], "id": 109, "name": "key"}], "id": 0, "name": "keyboard"}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12851/result_after_merging.json b/data/PartNet-Mobility/Keyboard/12851/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75675f4427f899a1aa3a5419abfd19bf8404f14
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/result_after_merging.json
@@ -0,0 +1 @@
+[{"id": 0, "ori_id": 0, "objs": ["original-125", "original-49", "original-122", "original-33", "original-123", "original-2", "original-121", "original-32", "original-109", "original-124", "original-64", "original-53", "original-74", "original-62", "original-75", "original-58", "original-76", "original-65", "original-60", "original-72", "original-86", "original-80", "original-88", "original-98", "original-89", "original-81", "original-82", "original-95", "original-99", "original-94", "original-41", "original-45", "original-51", "original-40", "original-44", "original-46", "original-54", "original-115", "original-108", "original-105", "original-107", "original-106", "original-111", "original-113", "original-114", "original-112", "original-57", "original-61", "original-69", "original-92", "original-90", "original-91", "original-85", "original-68", "original-56", "original-52", "original-79", "original-77", "original-96", "original-97", "original-78", "original-83", "original-87", "original-67", "original-66", "original-73", "original-59", "original-55", "original-117", "original-120", "original-63", "original-71", "original-84", "original-93", "original-103", "original-43", "original-101", "original-50", "original-102", "original-42", "original-48", "original-100", "original-118", "original-119", "original-35", "original-37", "original-36", "original-38", "original-4", "original-5", "original-7", "original-6", "original-9", "original-8", "original-13", "original-11", "original-12", "original-23", "original-16", "original-19", "original-31", "original-18", "original-24", "original-29", "original-30", "original-17", "original-27", "original-22", "original-15", "original-21", "original-20", "original-28", "original-25", "original-26", "original-138", "original-131", "original-137", "original-132", "original-127", "original-135", "original-139", "original-133", "original-129", "original-70"], "name": "keyboard", "text": "keyboard", "children": [{"id": 1, "name": "frame", "text": "frame", "ori_id": 2, "objs": ["original-49", "original-122", "original-33", "original-123", "original-2", "original-121", "original-32", "original-109", "original-124"]}, {"id": 2, "name": "key", "text": "key", "ori_id": 3, "objs": ["original-64"]}, {"id": 3, "name": "key", "text": "key", "ori_id": 4, "objs": ["original-53"]}, {"id": 4, "name": "key", "text": "key", "ori_id": 5, "objs": ["original-74"]}, {"id": 5, "name": "key", "text": "key", "ori_id": 6, "objs": ["original-62"]}, {"id": 6, "name": "key", "text": "key", "ori_id": 7, "objs": ["original-75"]}, {"id": 7, "name": "key", "text": "key", "ori_id": 8, "objs": ["original-58"]}, {"id": 8, "name": "key", "text": "key", "ori_id": 9, "objs": ["original-76"]}, {"id": 9, "name": "key", "text": "key", "ori_id": 10, "objs": ["original-65"]}, {"id": 10, "name": "key", "text": "key", "ori_id": 11, "objs": ["original-60"]}, {"id": 11, "name": "key", "text": "key", "ori_id": 12, "objs": ["original-72"]}, {"id": 12, "name": "key", "text": "key", "ori_id": 13, "objs": ["original-86"]}, {"id": 13, "name": "key", "text": "key", "ori_id": 14, "objs": ["original-80"]}, {"id": 14, "name": "key", "text": "key", "ori_id": 15, "objs": ["original-88"]}, {"id": 15, "name": "key", "text": "key", "ori_id": 16, "objs": ["original-98"]}, {"id": 16, "name": "key", "text": "key", "ori_id": 17, "objs": ["original-89"]}, {"id": 17, "name": "key", "text": "key", "ori_id": 18, "objs": ["original-81"]}, {"id": 18, "name": "key", "text": "key", "ori_id": 19, "objs": ["original-82"]}, {"id": 19, "name": "key", "text": "key", "ori_id": 20, "objs": ["original-95"]}, {"id": 20, "name": "key", "text": "key", "ori_id": 21, "objs": ["original-99"]}, {"id": 21, "name": "key", "text": "key", "ori_id": 22, "objs": ["original-94"]}, {"id": 22, "name": "key", "text": "key", "ori_id": 23, "objs": ["original-41"]}, {"id": 23, "name": "key", "text": "key", "ori_id": 24, "objs": ["original-45"]}, {"id": 24, "name": "key", "text": "key", "ori_id": 25, "objs": ["original-51"]}, {"id": 25, "name": "key", "text": "key", "ori_id": 26, "objs": ["original-40"]}, {"id": 26, "name": "key", "text": "key", "ori_id": 27, "objs": ["original-44"]}, {"id": 27, "name": "key", "text": "key", "ori_id": 28, "objs": ["original-46"]}, {"id": 28, "name": "key", "text": "key", "ori_id": 29, "objs": ["original-54"]}, {"id": 29, "name": "key", "text": "key", "ori_id": 30, "objs": ["original-115"]}, {"id": 30, "name": "key", "text": "key", "ori_id": 31, "objs": ["original-108"]}, {"id": 31, "name": "key", "text": "key", "ori_id": 32, "objs": ["original-105"]}, {"id": 32, "name": "key", "text": "key", "ori_id": 33, "objs": ["original-107"]}, {"id": 33, "name": "key", "text": "key", "ori_id": 34, "objs": ["original-106"]}, {"id": 34, "name": "key", "text": "key", "ori_id": 35, "objs": ["original-111"]}, {"id": 35, "name": "key", "text": "key", "ori_id": 36, "objs": ["original-113"]}, {"id": 36, "name": "key", "text": "key", "ori_id": 37, "objs": ["original-114"]}, {"id": 37, "name": "key", "text": "key", "ori_id": 38, "objs": ["original-112"]}, {"id": 38, "name": "key", "text": "key", "ori_id": 39, "objs": ["original-57"]}, {"id": 39, "name": "key", "text": "key", "ori_id": 40, "objs": ["original-61"]}, {"id": 40, "name": "key", "text": "key", "ori_id": 41, "objs": ["original-69"]}, {"id": 41, "name": "key", "text": "key", "ori_id": 42, "objs": ["original-92"]}, {"id": 42, "name": "key", "text": "key", "ori_id": 43, "objs": ["original-90"]}, {"id": 43, "name": "key", "text": "key", "ori_id": 44, "objs": ["original-91"]}, {"id": 44, "name": "key", "text": "key", "ori_id": 45, "objs": ["original-85"]}, {"id": 45, "name": "key", "text": "key", "ori_id": 46, "objs": ["original-68"]}, {"id": 46, "name": "key", "text": "key", "ori_id": 47, "objs": ["original-56"]}, {"id": 47, "name": "key", "text": "key", "ori_id": 48, "objs": ["original-52"]}, {"id": 48, "name": "key", "text": "key", "ori_id": 49, "objs": ["original-79"]}, {"id": 49, "name": "key", "text": "key", "ori_id": 50, "objs": ["original-77"]}, {"id": 50, "name": "key", "text": "key", "ori_id": 51, "objs": ["original-96"]}, {"id": 51, "name": "key", "text": "key", "ori_id": 52, "objs": ["original-97"]}, {"id": 52, "name": "key", "text": "key", "ori_id": 53, "objs": ["original-78"]}, {"id": 53, "name": "key", "text": "key", "ori_id": 54, "objs": ["original-83"]}, {"id": 54, "name": "key", "text": "key", "ori_id": 55, "objs": ["original-87"]}, {"id": 55, "name": "key", "text": "key", "ori_id": 56, "objs": ["original-67"]}, {"id": 56, "name": "key", "text": "key", "ori_id": 57, "objs": ["original-66"]}, {"id": 57, "name": "key", "text": "key", "ori_id": 58, "objs": ["original-73"]}, {"id": 58, "name": "key", "text": "key", "ori_id": 59, "objs": ["original-59"]}, {"id": 59, "name": "key", "text": "key", "ori_id": 60, "objs": ["original-55"]}, {"id": 60, "name": "key", "text": "key", "ori_id": 61, "objs": ["original-117"]}, {"id": 61, "name": "key", "text": "key", "ori_id": 62, "objs": ["original-120"]}, {"id": 62, "name": "key", "text": "key", "ori_id": 63, "objs": ["original-63"]}, {"id": 63, "name": "key", "text": "key", "ori_id": 64, "objs": ["original-71"]}, {"id": 64, "name": "key", "text": "key", "ori_id": 65, "objs": ["original-84"]}, {"id": 65, "name": "key", "text": "key", "ori_id": 66, "objs": ["original-93"]}, {"id": 66, "name": "key", "text": "key", "ori_id": 67, "objs": ["original-103"]}, {"id": 67, "name": "key", "text": "key", "ori_id": 68, "objs": ["original-43"]}, {"id": 68, "name": "key", "text": "key", "ori_id": 69, "objs": ["original-101"]}, {"id": 69, "name": "key", "text": "key", "ori_id": 70, "objs": ["original-50"]}, {"id": 70, "name": "key", "text": "key", "ori_id": 71, "objs": ["original-102"]}, {"id": 71, "name": "key", "text": "key", "ori_id": 72, "objs": ["original-42"]}, {"id": 72, "name": "key", "text": "key", "ori_id": 73, "objs": ["original-48"]}, {"id": 73, "name": "key", "text": "key", "ori_id": 74, "objs": ["original-100"]}, {"id": 74, "name": "key", "text": "key", "ori_id": 75, "objs": ["original-118"]}, {"id": 75, "name": "key", "text": "key", "ori_id": 76, "objs": ["original-119"]}, {"id": 76, "name": "key", "text": "key", "ori_id": 77, "objs": ["original-35"]}, {"id": 77, "name": "key", "text": "key", "ori_id": 78, "objs": ["original-37"]}, {"id": 78, "name": "key", "text": "key", "ori_id": 79, "objs": ["original-36"]}, {"id": 79, "name": "key", "text": "key", "ori_id": 80, "objs": ["original-38"]}, {"id": 80, "name": "key", "text": "key", "ori_id": 81, "objs": ["original-4"]}, {"id": 81, "name": "key", "text": "key", "ori_id": 82, "objs": ["original-5"]}, {"id": 82, "name": "key", "text": "key", "ori_id": 83, "objs": ["original-7"]}, {"id": 83, "name": "key", "text": "key", "ori_id": 84, "objs": ["original-6"]}, {"id": 84, "name": "key", "text": "key", "ori_id": 85, "objs": ["original-9"]}, {"id": 85, "name": "key", "text": "key", "ori_id": 86, "objs": ["original-8"]}, {"id": 86, "name": "key", "text": "key", "ori_id": 87, "objs": ["original-13"]}, {"id": 87, "name": "key", "text": "key", "ori_id": 88, "objs": ["original-11"]}, {"id": 88, "name": "key", "text": "key", "ori_id": 89, "objs": ["original-12"]}, {"id": 89, "name": "key", "text": "key", "ori_id": 90, "objs": ["original-23"]}, {"id": 90, "name": "key", "text": "key", "ori_id": 91, "objs": ["original-16"]}, {"id": 91, "name": "key", "text": "key", "ori_id": 92, "objs": ["original-19"]}, {"id": 92, "name": "key", "text": "key", "ori_id": 93, "objs": ["original-31"]}, {"id": 93, "name": "key", "text": "key", "ori_id": 94, "objs": ["original-18"]}, {"id": 94, "name": "key", "text": "key", "ori_id": 95, "objs": ["original-24"]}, {"id": 95, "name": "key", "text": "key", "ori_id": 96, "objs": ["original-29"]}, {"id": 96, "name": "key", "text": "key", "ori_id": 97, "objs": ["original-30"]}, {"id": 97, "name": "key", "text": "key", "ori_id": 98, "objs": ["original-17"]}, {"id": 98, "name": "key", "text": "key", "ori_id": 99, "objs": ["original-27"]}, {"id": 99, "name": "key", "text": "key", "ori_id": 100, "objs": ["original-22"]}, {"id": 100, "name": "key", "text": "key", "ori_id": 101, "objs": ["original-15"]}, {"id": 101, "name": "key", "text": "key", "ori_id": 102, "objs": ["original-21"]}, {"id": 102, "name": "key", "text": "key", "ori_id": 103, "objs": ["original-20"]}, {"id": 103, "name": "key", "text": "key", "ori_id": 104, "objs": ["original-28"]}, {"id": 104, "name": "key", "text": "key", "ori_id": 105, "objs": ["original-25"]}, {"id": 105, "name": "key", "text": "key", "ori_id": 106, "objs": ["original-26"]}, {"id": 106, "name": "key", "text": "key", "ori_id": 109, "objs": ["original-70"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12851/semantics.txt b/data/PartNet-Mobility/Keyboard/12851/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba8fa18fbf6ac5e18cfd85e4771a85d5d50482ae
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/semantics.txt
@@ -0,0 +1,106 @@
+link_0 free keyboard_base
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
+link_15 slider key
+link_16 slider key
+link_17 slider key
+link_18 slider key
+link_19 slider key
+link_20 slider key
+link_21 slider key
+link_22 slider key
+link_23 slider key
+link_24 slider key
+link_25 slider key
+link_26 slider key
+link_27 slider key
+link_28 slider key
+link_29 slider key
+link_30 slider key
+link_31 slider key
+link_32 slider key
+link_33 slider key
+link_34 slider key
+link_35 slider key
+link_36 slider key
+link_37 slider key
+link_38 slider key
+link_39 slider key
+link_40 slider key
+link_41 slider key
+link_42 slider key
+link_43 slider key
+link_44 slider key
+link_45 slider key
+link_46 slider key
+link_47 slider key
+link_48 slider key
+link_49 slider key
+link_50 slider key
+link_51 slider key
+link_52 slider key
+link_53 slider key
+link_54 slider key
+link_55 slider key
+link_56 slider key
+link_57 slider key
+link_58 slider key
+link_59 slider key
+link_60 slider key
+link_61 slider key
+link_62 slider key
+link_63 slider key
+link_64 slider key
+link_65 slider key
+link_66 slider key
+link_67 slider key
+link_68 slider key
+link_69 slider key
+link_70 slider key
+link_71 slider key
+link_72 slider key
+link_73 slider key
+link_74 slider key
+link_75 slider key
+link_76 slider key
+link_77 slider key
+link_78 slider key
+link_79 slider key
+link_80 slider key
+link_81 slider key
+link_82 slider key
+link_83 slider key
+link_84 slider key
+link_85 slider key
+link_86 slider key
+link_87 slider key
+link_88 slider key
+link_89 slider key
+link_90 slider key
+link_91 slider key
+link_92 slider key
+link_93 slider key
+link_94 slider key
+link_95 slider key
+link_96 slider key
+link_97 slider key
+link_98 slider key
+link_99 slider key
+link_100 slider key
+link_101 slider key
+link_102 slider key
+link_103 slider key
+link_104 slider key
+link_105 slider key
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dc457fbb17541d0649e59828379b12b5cc33b70
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-100.obj
@@ -0,0 +1,4214 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o Group94/mesh344/mesh344-geometry#mesh344-geometry
+v 0.006082 0.031046 -0.036728
+v 0.005884 0.030872 -0.037295
+v 0.005647 0.030860 -0.037125
+v 0.006204 0.031052 -0.036815
+v 0.005567 0.030558 -0.037719
+v 0.005987 0.031037 -0.036612
+v 0.006507 0.031085 -0.036315
+v 0.006158 0.030878 -0.037399
+v 0.005232 0.030541 -0.037479
+v 0.005955 0.030567 -0.037867
+v 0.005463 0.030844 -0.036902
+v 0.006346 0.031055 -0.036870
+v 0.005277 0.030131 -0.038060
+v 0.005752 0.030142 -0.038241
+v 0.005926 0.031027 -0.036477
+v 0.006498 0.031055 -0.036886
+v 0.006451 0.030878 -0.037431
+v 0.006370 0.030567 -0.037913
+v 0.004866 0.030111 -0.037767
+v 0.004973 0.030518 -0.037164
+v 0.006259 0.030143 -0.038297
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8acbfda95838897831289aed3b922421eb3df2d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-101.obj
@@ -0,0 +1,3668 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbe467b58e73cda60fd729e0833b4937891e4f8c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-102.obj
@@ -0,0 +1,2248 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d418624b9c51ccc8933225533928a2df32a2476
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-103.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d9e5d4f3d5196225f86b17b3aac346103b214a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-105.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b92789953a9fbbda0c23777f7a21f90190963bcc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-106.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99660826798e8ac7c3640c702a2b48037ee768d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-107.obj
@@ -0,0 +1,2085 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ffaed4a19cc8ea853e0d4326a1bdbbaa532f8b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-108.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..170ae78b772e16c8eaf6ca1f06ab042ce83d4e95
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-109.obj
@@ -0,0 +1,595 @@
+# SSTK version 0.8.0
+# 109
+mtllib original-109.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14513d59137c1a2041151ef741ea96d68a982f9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-11.obj
@@ -0,0 +1,3414 @@
+# SSTK version 0.8.0
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+mtllib original-11.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b3ed993bbe1762ce102f81bf889b9c1ac1e230c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-111.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16edecb5f8754bdef4d750cea17d35e33356101f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-112.obj
@@ -0,0 +1,1795 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3c7015ef783a50570827a3d5592f152931f7bb
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-113.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a1dfac7a406e5e70ef91080d65a56ef1533f1a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-114.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..544127c66fbcb2ff7d69929670f7f744e5bc3d92
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-115.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432fb8ef221cce158ff3135a4fdd1ea7650e8e30
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-117.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d35999823238c7059bb357dae11f2708f34b106f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-118.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f978a07bacf0581f81bbf206ab6c11fd98c1768d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-119.obj
@@ -0,0 +1,1830 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34bf594088fb9e8bc3d9f8cf1eba2a4f222a954c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ada3e0dad28df063bb2ca8f8687ad3a7a65a7040
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-120.obj
@@ -0,0 +1,2155 @@
+# SSTK version 0.8.0
+# 120
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0783d97f78dbf626f93e9c619a9c0bb73901df9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-121.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ab431de5fd84794a0e6fd9e1fab42a2917a17d6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-122.obj
@@ -0,0 +1,3347 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da2af9723032ef0c275b7bb988091c82566b0d57
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-123.obj
@@ -0,0 +1,595 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1687b10b96bf3d1b818fdeab8ae60a1f8df586db
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-124.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2df5f4e8ce1fbe1fa4be014a95a9b9bdfe76083e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da1d86922e0a7b1ce8ad3fb22e11d1efcc13cf8c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-125.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3369c15fca13f32c3052448360b0a1b289b68301
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 0.9490196078431372 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c2b9bafefa44a8f4215cc0e9518ca7b312baad
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-127.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ab101cb5e57ce0ac571b39cb75fde7872329ac5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af653f2c6fe45dada5e575f067c671bb9062096e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-129.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-13.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-13.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..503ee4d28217e601b81154deacca4387af0f6e3b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec52a01bbd0e1a637da68dd520b3583684a45783
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.5647058823529412 0.4745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.10980392156862745 0.10196078431372549 0.08627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613220069a9c36fb1c7954ff6e0a4283f70c7e3b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-131.obj
@@ -0,0 +1,1778 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..74a31bec08a61bc0fb17162dc6685f4abcfcbf33
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9ee2c0bd2d088823afb74a30417d7fbb882dab5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-132.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1828aa080cf596963a0c54c95f5c6fee5d89f69d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e05e8266311982afa7e7acd6c37b59d0e65f50d2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-133.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-135.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-135.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7ab101cb5e57ce0ac571b39cb75fde7872329ac5
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-135.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-135.obj
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index 0000000000000000000000000000000000000000..e0eed40e0cffbf6179fcd282cf986ef17830c60b
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-137.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec52a01bbd0e1a637da68dd520b3583684a45783
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-137.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-137.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80f3772a10468d69cb3c889118857e1f01d076bc
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..74a31bec08a61bc0fb17162dc6685f4abcfcbf33
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01bb766bb2617c3ee67e018a372b14d609ce75f9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-138.obj
@@ -0,0 +1,1358 @@
+# SSTK version 0.8.0
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+mtllib original-138.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1828aa080cf596963a0c54c95f5c6fee5d89f69d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be526d8b1a1836f4927d3c8109a6b783adc3914f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-139.obj
@@ -0,0 +1,44 @@
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+# 139
+mtllib original-139.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56a0ac4162f1548e95239d90381a6f9a041bf006
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1920bd4acc3b5e191c260f0ba89c18042f5a635e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5fe47ecd888aa6bde7ea1d0bc1fc8268307abbc3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96369a76513961017a4ffc8b9b6d7567f4bb15b0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-18.obj
@@ -0,0 +1,1935 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75ae9e91819f647e0016f0ee51ef2048c0a54274
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-19.obj
@@ -0,0 +1,1765 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ffe1b6446257b225857733d3a28de54269adee9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+
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+illum 3
+d 1
+Ns 30
+Kd 1 0.49411764705882355 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc78b88d18a9722871d35e74242a191dd670c8e8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-2.obj
@@ -0,0 +1,3460 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72aa984787f292765efe0440183aef89e31d86d1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-20.obj
@@ -0,0 +1,1680 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ceb0ec0e47ca30ff7e8e50d76f3deff202c63c06
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.mtl
@@ -0,0 +1,14 @@
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+
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b839a4c109f1bb17ba40aa9e043226236c3a520
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-22.obj
@@ -0,0 +1,3155 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41aa68b875f8a9e41dfa59aed1d7c6feeaaccda3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.047058823529411764 0.047058823529411764 0.047058823529411764 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0a15269f4bd446e9aa0b4d1f0c7bc00bb2c3ecc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-24.obj
@@ -0,0 +1,1950 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c958319595c94cb64977ef4211415a198ecd37ad
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-25.obj
@@ -0,0 +1,1634 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.mtl b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2417dd3cf8fb2884697c478e1e15a7b914d37107
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.obj b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a70bb15e630427c964bde3cc0f38c0a9d5edf5d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12851/textured_objs/original-26.obj
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