diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21b4cc4d2f9b3e8c01a8363c5c2a54e4587da76b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-49.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
+v 0.031096 -0.135923 -0.137448
+v 0.029826 -0.135923 -0.138641
+v 0.029961 -0.135923 -0.139415
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+f 9//1 11//1 12//1
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f902620ec7b63785a69bb83b03a70870df1d1b76
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-50.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
+v 0.031635 -0.135923 -0.136515
+v 0.028769 -0.135923 -0.135507
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+f 10//2 8//2 9//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2b8a69a71406fce1c4afe69b3abca08afb2f60e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-51.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o mesh44/mesh44-geometry#mesh44-geometry
+v 0.027036 -0.135923 -0.144125
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4dc218f24ceb9b1c48edc6020f60abff14afd8f5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-52.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o mesh45/mesh45-geometry#mesh45-geometry
+v 0.025185 -0.135923 -0.147005
+v 0.022964 -0.135923 -0.148087
+v 0.023391 -0.135923 -0.148333
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+vn 0 -1 0
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+usemtl material_0_0
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+f 7//2 4//2 6//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5bab96a9773e2ea30130c1cc83ef9655bcd37b1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-54.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o mesh46/mesh46-geometry#mesh46-geometry
+v 0.083841 -0.065688 -0.071618
+v 0.083548 -0.065096 -0.069103
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+vn -0.9144992001248291 0.35692172805874317 -0.1905205842175818
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0b0a432386ffa4ce44b5e612fbe30a0c090826c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-55.obj
@@ -0,0 +1,109 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o mesh47/mesh47-geometry#mesh47-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b85e7fc793f6c126bfcff23d45967ab88e17abd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ee6e5335ec5c153b45eeddb3ac1b9f9940f506
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-56.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02ab3a822e7aaf1ca6d63e5e732ad3734ad90b86
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-58.obj
@@ -0,0 +1,213 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84d29794331b5faba45d0a48198d7b2507d7125
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-59.obj
@@ -0,0 +1,109 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
+o mesh51/mesh51-geometry#mesh51-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-6.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-6.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/Camera/102870/textured_objs/original-6.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6b16be6b7e0507378ddd3bbd0899174843c5609
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-6.obj
@@ -0,0 +1,169 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85407bf097335bfe15c1c8e97d993705d7c14884
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-60.obj
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ee188d7413ffbe861b00ec931ed53ea14454e4f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bdbf7b6c9589de7a63359fd8f81554322a68987
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-62.obj
@@ -0,0 +1,228 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o mesh54/mesh54-geometry#mesh54-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-63.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-63.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/Camera/102870/textured_objs/original-63.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92892cc1fa1a1cc2bd456cadb5480cc0dfca63a5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-63.obj
@@ -0,0 +1,54 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o mesh55/mesh55-geometry#mesh55-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4bc3a3f71d008972d1da3d89ba2e0727e66f7a3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-64.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o mesh56/mesh56-geometry#mesh56-geometry
+v 0.115113 0.092414 -0.110682
+v 0.115997 0.092414 -0.109945
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57543bcd872124d5d6b2d5bdd0157da1ffdce930
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-65.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh57/mesh57-geometry#mesh57-geometry
+v 0.104942 0.092414 -0.110682
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+vn 0 1 0
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61c83a7687197618c1c317561a62c0af3b4f483a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-66.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o mesh58/mesh58-geometry#mesh58-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27679e6b265d666f47a49538d14f04e956e9e2ea
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-67.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o mesh59/mesh59-geometry#mesh59-geometry
+v 0.090924 0.092414 -0.112249
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b85e7fc793f6c126bfcff23d45967ab88e17abd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0f0c991fd36b4ee7d3f413b722e2180f35e56f2
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-68.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o mesh60/mesh60-geometry#mesh60-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0066f6fbc4424dfb743e05711598643cb556c20
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-69.obj
@@ -0,0 +1,213 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..460415dc56b1e7ad3db7a19fab5ba8a2164f501a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-70.obj
@@ -0,0 +1,109 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o mesh62/mesh62-geometry#mesh62-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0facc835fec6b65f83300c7af110b5017f6d210
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-71.obj
@@ -0,0 +1,223 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c410dee9dbba954ee6dbcee5111ad0d9ee5a86b1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-72.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o mesh64/mesh64-geometry#mesh64-geometry
+v -0.134935 0.070907 -0.099353
+v -0.136259 0.063443 -0.099353
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df72914270024174755575352c351300317215b1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-73.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o mesh65/mesh65-geometry#mesh65-geometry
+v -0.146202 0.070907 -0.099353
+v -0.149635 0.070026 -0.099353
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ca6258f85b88cc2504e3c1a4bb7bbcbb13e27b4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-74.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o mesh66/mesh66-geometry#mesh66-geometry
+v -0.089364 0.067715 -0.099353
+v -0.094233 0.066834 -0.099353
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce4c0e32bd18dad45e4188ee25e8266c3cd3e024
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-75.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
+v -0.128396 0.070907 -0.099353
+v -0.125713 0.063443 -0.099353
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a12659c98cb55cad097fd36a4e7b5d419aa401e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-76.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o mesh68/mesh68-geometry#mesh68-geometry
+v -0.115607 0.070907 -0.099353
+v -0.119039 0.070026 -0.099353
+v -0.115607 0.070026 -0.099353
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46fa2c5c563e824d0baeede662f17cedd58f42da
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-77.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
+o mesh69/mesh69-geometry#mesh69-geometry
+v -0.112592 0.070907 -0.099353
+v -0.113965 0.063443 -0.099353
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+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff0bbefbb8a6319211452796bc4b7d32c4d5e17a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-78.obj
@@ -0,0 +1,204 @@
+# SSTK version 0.8.0
+# 78
+mtllib original-78.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e77f8eac116e2db167b60366cdf9e084a87c9f8f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 4
+d 0.84
+Ns 30
+Kd 0.1843137254901961 0.21176470588235294 0.26666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ffba5edd9d811365d94a41c505f7ac603214c59
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-79.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
+# 79
+mtllib original-79.mtl
+o mesh71/mesh71-geometry#mesh71-geometry
+v -0.010564 0.057236 -0.178055
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b85e7fc793f6c126bfcff23d45967ab88e17abd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.24705882352941178 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6596ae2f0618626718b3a33307971811c615cf87
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-83.obj
@@ -0,0 +1,147 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b85e7fc793f6c126bfcff23d45967ab88e17abd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e839e8485103c8cfdc64317cb85ed229966d9fe4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-84.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o mesh74/mesh74-geometry#mesh74-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4b85e7fc793f6c126bfcff23d45967ab88e17abd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6bab3dd80fefa999bc91cb942ddaa69f3acb84
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-85.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o __1/__/mesh75/mesh75-geometry#mesh75-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c645dede687781256e65c78a98a789a369afc0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-87.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o mesh76/mesh76-geometry#mesh76-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01d38633b59daaf41e9922257fc430dd15f6653c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-88.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o mesh77/mesh77-geometry#mesh77-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..658767e40de808d944d8c4787e93d4317741e51f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-89.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o mesh78/mesh78-geometry#mesh78-geometry
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diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-9.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71a22e189a413ac241a6eec0a7c565e48e763311
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-9.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/Camera/102870/textured_objs/original-9.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed3c4b353904b569c1b4e23948a0b1b953891ec0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-9.obj
@@ -0,0 +1,143 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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+f 44//2 42//2 43//2
+f 45//2 44//2 43//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1fc667c3b71a15e267c7fd86d363a7541c0f2a4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-90.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
+o mesh79/mesh79-geometry#mesh79-geometry
+v 0.150212 0.096974 -0.123958
+v 0.149988 0.096974 -0.121948
+v 0.150506 0.096974 -0.123879
+v 0.149593 0.096974 -0.121651
+v 0.150004 0.096974 -0.121541
+v 0.150987 0.096974 -0.122998
+v 0.151176 0.096974 -0.123699
+v 0.151209 0.096974 -0.123335
+v 0.151452 0.096974 -0.123626
+v 0.151227 0.096974 -0.122964
+v 0.151336 0.096974 -0.121184
+v 0.151593 0.096974 -0.121483
+v 0.151795 0.096974 -0.121061
+v 0.152119 0.096974 -0.123447
+v 0.152413 0.096974 -0.123368
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//1 2//1 4//1
+f 4//2 2//2 5//2
+f 6//1 2//1 5//1
+f 5//2 2//2 6//2
+f 6//1 7//1 2//1
+f 2//2 7//2 6//2
+f 8//1 7//1 6//1
+f 6//2 7//2 8//2
+f 8//1 9//1 7//1
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+f 10//1 9//1 8//1
+f 8//2 9//2 10//2
+f 11//1 9//1 10//1
+f 10//2 9//2 11//2
+f 11//1 12//1 9//1
+f 9//2 12//2 11//2
+f 13//1 12//1 11//1
+f 11//2 12//2 13//2
+f 13//1 14//1 12//1
+f 12//2 14//2 13//2
+f 14//1 13//1 15//1
+f 15//2 13//2 14//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fbdd9516ee3cebfd35d59082b021e1c71a0403
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-92.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
+o mesh80/mesh80-geometry#mesh80-geometry
+v 0.162230 0.096974 -0.175363
+v 0.163574 0.096974 -0.174711
+v 0.163952 0.096974 -0.174902
+v 0.162157 0.096974 -0.175091
+v 0.163101 0.096974 -0.172949
+v 0.163334 0.096974 -0.172594
+v 0.163363 0.096974 -0.173926
+v 0.161665 0.096974 -0.173041
+v 0.163291 0.096974 -0.173655
+v 0.161738 0.096974 -0.173314
+v 0.162087 0.096974 -0.174268
+v 0.162014 0.096974 -0.173997
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//1 3//1 2//1
+f 2//2 3//2 5//2
+f 5//1 6//1 3//1
+f 3//2 6//2 5//2
+f 5//1 2//1 7//1
+f 7//2 2//2 5//2
+f 6//1 5//1 8//1
+f 8//2 5//2 6//2
+f 5//1 7//1 9//1
+f 9//2 7//2 5//2
+f 8//1 5//1 10//1
+f 10//2 5//2 8//2
+f 11//1 9//1 7//1
+f 7//2 9//2 11//2
+f 9//1 11//1 12//1
+f 12//2 11//2 9//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..092f3694820895cc1cfdbfb3b408745893b3cdd5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-93.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 93
+mtllib original-93.mtl
+o mesh81/mesh81-geometry#mesh81-geometry
+v 0.161676 0.096974 -0.175511
+v 0.160828 0.096974 -0.174450
+v 0.162043 0.096974 -0.175413
+v 0.160881 0.096974 -0.174862
+v 0.160586 0.096974 -0.174269
+v 0.160695 0.096974 -0.173936
+v 0.160725 0.096974 -0.174719
+v 0.160956 0.096974 -0.173232
+v 0.160665 0.096974 -0.174900
+v 0.161319 0.096974 -0.173134
+v 0.160333 0.096974 -0.174055
+v 0.160474 0.096974 -0.174526
+v 0.160305 0.096974 -0.175879
+v 0.159372 0.096974 -0.173656
+v 0.159928 0.096974 -0.175980
+v 0.159704 0.096974 -0.173567
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//1 2//1 4//1
+f 4//2 2//2 5//2
+f 6//1 2//1 5//1
+f 5//2 2//2 6//2
+f 5//1 4//1 7//1
+f 7//2 4//2 5//2
+f 8//1 2//1 6//1
+f 6//2 2//2 8//2
+f 5//1 7//1 9//1
+f 9//2 7//2 5//2
+f 2//1 8//1 10//1
+f 10//2 8//2 2//2
+f 5//1 9//1 11//1
+f 11//2 9//2 5//2
+f 11//1 9//1 12//1
+f 12//2 9//2 11//2
+f 13//1 12//1 9//1
+f 9//2 12//2 13//2
+f 11//1 12//1 14//1
+f 14//2 12//2 11//2
+f 12//1 13//1 15//1
+f 15//2 13//2 12//2
+f 11//1 14//1 16//1
+f 16//2 14//2 11//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f1ade86bf09e356462614f393fd679514d453a88
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8941176470588236 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0521fd11599932e08ff7632c04b7ed93a97923b9
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-94.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o mesh82/mesh82-geometry#mesh82-geometry
+v 0.159292 0.096974 -0.176150
+v 0.159528 0.096974 -0.175741
+v 0.159614 0.096974 -0.176064
+v 0.159205 0.096974 -0.175828
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.mtl b/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.obj b/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..787c97abd28257507d1921ff37ac56f5a7a46e56
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102870/textured_objs/original-95.obj
@@ -0,0 +1,161 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
+o mesh83/mesh83-geometry#mesh83-geometry
+v 0.170128 0.096962 -0.173802
+v 0.164916 0.096962 -0.118329
+v 0.172318 0.096962 -0.121395
+v 0.167831 0.096962 -0.169823
+v 0.172318 0.096962 -0.174559
+v 0.167831 0.095747 -0.169823
+v 0.164740 0.096962 -0.171104
+v 0.178675 0.096962 -0.126273
+v 0.164916 0.096962 -0.177625
+v 0.170128 0.095747 -0.173802
+v 0.164740 0.095747 -0.171104
+v 0.156971 0.096962 -0.117283
+v 0.178675 0.096962 -0.169681
+v 0.165929 0.096962 -0.175541
+v 0.165929 0.095747 -0.175541
+v 0.156971 0.096962 -0.178671
+v 0.183553 0.096962 -0.132630
+v 0.149027 0.096962 -0.177625
+v 0.183553 0.096962 -0.163324
+v 0.149198 0.096962 -0.124832
+v 0.186620 0.096962 -0.140033
+v 0.146102 0.096962 -0.126114
+v 0.149027 0.096962 -0.118329
+v 0.186620 0.096962 -0.155921
+v 0.141624 0.096962 -0.174559
+v 0.149198 0.095747 -0.124832
+v 0.148009 0.096962 -0.120394
+v 0.187665 0.096962 -0.147977
+v 0.143805 0.096962 -0.122136
+v 0.146102 0.095747 -0.126114
+v 0.148009 0.095747 -0.120394
+v 0.141624 0.096962 -0.121395
+v 0.135267 0.096962 -0.169681
+v 0.143805 0.095747 -0.122136
+v 0.135267 0.096962 -0.126273
+v 0.130390 0.096962 -0.163324
+v 0.130390 0.096962 -0.132630
+v 0.127323 0.096962 -0.155921
+v 0.127323 0.096962 -0.140033
+v 0.126277 0.096962 -0.147977
+vn 0 1 0
+vn 0 -1 0
+vn -0.8660253028382762 0 -0.5000001748438417
+vn 0.8660253028382762 0 0.5000001748438417
+vn 0.38268289803626016 0 -0.9238797538373538
+vn -0.38268289803626016 0 0.9238797538373538
+vn 0.965925849201117 0 0.2588189595935754
+vn -0.965925849201117 0 -0.2588189595935754
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 3//1 5//1 1//1
+f 1//2 5//2 3//2
+f 1//3 6//3 4//3
+f 4//4 6//4 1//4
+f 2//1 4//1 7//1
+f 7//2 4//2 2//2
+f 8//1 5//1 3//1
+f 3//2 5//2 8//2
+f 1//1 5//1 9//1
+f 9//2 5//2 1//2
+f 6//3 1//3 10//3
+f 10//4 1//4 6//4
+f 11//5 4//5 6//5
+f 6//6 4//6 11//6
+f 4//5 11//5 7//5
+f 7//6 11//6 4//6
+f 2//1 7//1 12//1
+f 12//2 7//2 2//2
+f 8//1 13//1 5//1
+f 5//2 13//2 8//2
+f 1//1 9//1 14//1
+f 14//2 9//2 1//2
+f 1//6 15//6 10//6
+f 10//5 15//5 1//5
+f 15//1 6//1 10//1
+f 10//2 6//2 15//2
+f 6//1 15//1 11//1
+f 11//2 15//2 6//2
+f 15//7 7//7 11//7
+f 11//8 7//8 15//8
+f 12//1 7//1 16//1
+f 16//2 7//2 12//2
+f 17//1 13//1 8//1
+f 8//2 13//2 17//2
+f 14//1 9//1 7//1
+f 7//2 9//2 14//2
+f 15//6 1//6 14//6
+f 14//5 1//5 15//5
+f 7//7 15//7 14//7
+f 14//8 15//8 7//8
+f 7//1 9//1 16//1
+f 16//2 9//2 7//2
+f 12//1 16//1 18//1
+f 18//2 16//2 12//2
+f 17//1 19//1 13//1
+f 13//2 19//2 17//2
+f 12//1 18//1 20//1
+f 20//2 18//2 12//2
+f 21//1 19//1 17//1
+f 17//2 19//2 21//2
+f 20//1 18//1 22//1
+f 22//2 18//2 20//2
+f 20//1 23//1 12//1
+f 12//2 23//2 20//2
+f 21//1 24//1 19//1
+f 19//2 24//2 21//2
+f 22//1 18//1 25//1
+f 25//2 18//2 22//2
+f 22//6 26//6 20//6
+f 20//5 26//5 22//5
+f 23//1 20//1 27//1
+f 27//2 20//2 23//2
+f 24//1 21//1 28//1
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+f 22//1 25//1 29//1
+f 29//2 25//2 22//2
+f 26//6 22//6 30//6
+f 30//5 22//5 26//5
+f 31//8 20//8 26//8
+f 26//7 20//7 31//7
+f 20//8 31//8 27//8
+f 27//7 31//7 20//7
+f 23//1 27//1 32//1
+f 32//2 27//2 23//2
+f 32//1 29//1 25//1
+f 25//2 29//2 32//2
+f 29//4 30//4 22//4
+f 22//3 30//3 29//3
+f 30//1 31//1 26//1
+f 26//2 31//2 30//2
+f 31//5 29//5 27//5
+f 27//6 29//6 31//6
+f 32//1 27//1 29//1
+f 29//2 27//2 32//2
+f 32//1 25//1 33//1
+f 33//2 25//2 32//2
+f 30//4 29//4 34//4
+f 34//3 29//3 30//3
+f 31//1 30//1 34//1
+f 34//2 30//2 31//2
+f 29//5 31//5 34//5
+f 34//6 31//6 29//6
+f 32//1 33//1 35//1
+f 35//2 33//2 32//2
+f 35//1 33//1 36//1
+f 36//2 33//2 35//2
+f 35//1 36//1 37//1
+f 37//2 36//2 35//2
+f 37//1 36//1 38//1
+f 38//2 36//2 37//2
+f 37//1 38//1 39//1
+f 39//2 38//2 37//2
+f 39//1 38//1 40//1
+f 40//2 38//2 39//2
diff --git a/data/PartNet-Mobility/Camera/102873/bounding_box.json b/data/PartNet-Mobility/Camera/102873/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8c724ae19617267cd0b53fd7cebbb81cc59765
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.888674, -0.464367, -0.279561], "max": [0.880735, 0.541219, 0.650698]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102873/meta.json b/data/PartNet-Mobility/Camera/102873/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..010bfebb5d0a4f658bb4abdbc4efbe29d0e15411
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "dfc438f9-f828-4fc0-a098-3fd60da79acb", "version": "1", "anno_id": "2873", "time_in_sec": "36"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102873/mobility.urdf b/data/PartNet-Mobility/Camera/102873/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..de124c39b493ccdb487ed6dc5e765d6f057eb81a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/mobility.urdf
@@ -0,0 +1,181 @@
+<?xml version="1.0" ?>
+<robot name="partnet_dfc438f9-f828-4fc0-a098-3fd60da79acb">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lens-1">
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0039693170910203406 0.03559881267303164 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.0039693170910203406 -0.03559881267303164 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_3"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.03600000000000003"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_2"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.040000000000000036"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Camera/102873/mobility_v2.json b/data/PartNet-Mobility/Camera/102873/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6182a71cd5720dca36174a4f7514cf75d3b72487
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 3, "joint": "hinge", "name": "lens", "parts": [{"id": 1, "name": "lens", "children": []}], "jointData": {"axis": {"origin": [-0.0039693170910203406, -0.03559881267303164, 0], "direction": [0, 0, 1]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 3, "joint": "slider", "name": "button", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.03600000000000003, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 3, "joint": "slider", "name": "button", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": -0.040000000000000036, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 4, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102873/result.json b/data/PartNet-Mobility/Camera/102873/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..113d0e64d674b12fd1144b04d620f67e66c45fd2
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-7", "original-6", "original-5"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-11"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-10"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-4", "original-3", "original-2", "original-8", "original-9", "original-12", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102873/result_original.json b/data/PartNet-Mobility/Camera/102873/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e61e7c3929ecdc8867b262c19f100784547015
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-7", "original-6", "original-5"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-11"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102873/semantics.txt b/data/PartNet-Mobility/Camera/102873/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f31b931d4a1bbb17acaeb6135adc40d0574b17a8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge lens
+link_1 slider button
+link_2 slider button
+link_3 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3be6cd337a176cbc2b2f546b804f19747cbf2ad0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.29411764705882354 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e77b29907acfb90d1fc6df5262e235719427242
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-1.obj
@@ -0,0 +1,286 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID3
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..918d1306cf1e85549de21ea69b489b00ea5ab4a3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-10.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-11.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-11.obj
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+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-12.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-12.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-2.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-2.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-2.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-2.obj
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new file mode 100644
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+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-3.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5618f73225e3575364c397948356da6efd8c264a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-5.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-6.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-7.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-7.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/Camera/102873/textured_objs/original-7.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a276b3fbdba58bd43b72dfabca819e0de4086f5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-7.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID45
+v -0.003970 -0.257497 0.616768
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6bcef072f5d0abc524aeeb3028e11a7790392d0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-8.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o #ID53
+v 0.006114 0.429445 0.025185
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diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.mtl b/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.44313725490196076 0.44313725490196076 0.44313725490196076 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.obj b/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4854d67c05767a50cf0d363a0bf7aafa0394c39c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102873/textured_objs/original-9.obj
@@ -0,0 +1,125 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o #ID59
+v -0.003970 0.428117 0.029583
+v -0.014052 0.429445 0.025185
+v -0.014052 0.429445 0.029583
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diff --git a/data/PartNet-Mobility/Camera/102874/bounding_box.json b/data/PartNet-Mobility/Camera/102874/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9364dc43f105edd7b5adb19a920997a94ecca6cc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.780964, -0.458751, -0.716431], "max": [0.658195, 0.6533, 0.877457]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102874/images/texture_0.jpg b/data/PartNet-Mobility/Camera/102874/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fb60514dda3ad932c281a85dd61d749b72d0ca03
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4bbd3156ffd75481c0af29970fb4dc149ac952ba3cc2ada4e03a63f7546b5b
+size 1074
diff --git a/data/PartNet-Mobility/Camera/102874/meta.json b/data/PartNet-Mobility/Camera/102874/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7072980d261cbb6a1add53fd5408c7b420fef4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "e0626fa6-7ebe-441f-a32b-5f17497fe437", "version": "1", "anno_id": "2874", "time_in_sec": "78"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102874/mobility.urdf b/data/PartNet-Mobility/Camera/102874/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..20d3f52f445b6a754c2d71d011b51e7c11e489f8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/mobility.urdf
@@ -0,0 +1,2113 @@
+<?xml version="1.0" ?>
+<robot name="partnet_e0626fa6-7ebe-441f-a32b-5f17497fe437">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lens-1">
+			<origin xyz="-0.08764237852914344 0.04320562147085657 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-1">
+			<origin xyz="-0.08764237852914344 0.04320562147085657 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08764237852914344 0.04320562147085657 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-138.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.08764237852914344 0.04320562147085657 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.08764237852914344 -0.04320562147085657 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_26"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lens-2">
+			<origin xyz="-0.08764237852914344 0.04320562147085656 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-136.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.08764237852914344 0.04320562147085656 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-136.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.08764237852914344 -0.04320562147085656 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_1"/>
+		<parent link="link_26"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_4"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.01200000000000001"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_5"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_6"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_7"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-9">
+			<origin xyz="0.2488564465630684 -0.29455000000000003 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2488564465630684 -0.29455000000000003 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="-0.2488564465630684 0.29455000000000003 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_8"/>
+		<parent link="link_26"/>
+		<limit lower="-0.024" upper="0"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-10">
+			<origin xyz="0.2488564465630684 -0.29455000000000003 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.2488564465630684 -0.29455000000000003 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="-0.2488564465630684 0.29455000000000003 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_9"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.052000000000000046"/>
+	</joint>
+	<link name="link_10">
+		<visual name="button-11">
+			<origin xyz="-0.0035699012118789973 0.004553197218208284 0.10595779755873753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.0035699012118789973 0.004553197218208284 0.10595779755873753"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.0035699012118789973 -0.004553197218208284 -0.10595779755873753"/>
+		<axis xyz="-0.9660621887376304 -0.2574143882717458 -0.021486744800967537"/>
+		<child link="link_10"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.020000000000000018"/>
+	</joint>
+	<link name="link_11">
+		<visual name="button-12">
+			<origin xyz="0.029920143712218118 -0.17428652376387663 0.07445442493907169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.029920143712218118 -0.17428652376387663 0.07445442493907169"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="-0.029920143712218118 0.17428652376387663 -0.07445442493907169"/>
+		<axis xyz="-0.9873930645272895 -0.15415195729697884 0.03594593419176442"/>
+		<child link="link_11"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.020000000000000018"/>
+	</joint>
+	<link name="link_12">
+		<visual name="button-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_12"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_13">
+		<visual name="button-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_13"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_14">
+		<visual name="button-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_14"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_15">
+		<visual name="button-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_15"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_16">
+		<visual name="button-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_16"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_17">
+		<visual name="button-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_17"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_18">
+		<visual name="button-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_18"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_19">
+		<visual name="button-20">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_19"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_20">
+		<visual name="button-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_20"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_21">
+		<visual name="button-22">
+			<origin xyz="0.5996784131574991 -0.3421848995259451 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5996784131574991 -0.3421848995259451 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="continuous">
+		<origin xyz="-0.5996784131574991 0.3421848995259451 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_21"/>
+		<parent link="link_26"/>
+	</joint>
+	<link name="link_22">
+		<visual name="button-23">
+			<origin xyz="0.6028454999999999 0 0.255259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6028454999999999 0 0.255259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="-0.6028454999999999 0 -0.255259"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_22"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.020000000000000018"/>
+	</joint>
+	<link name="link_23">
+		<visual name="button-24">
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-24">
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-24">
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.30769691252166925 0.04356746403738502 0.4076548656175107"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="continuous">
+		<origin xyz="-0.30769691252166925 -0.04356746403738502 -0.4076548656175107"/>
+		<axis xyz="-0.1401937809202762 0.9901240850475651 0"/>
+		<child link="link_23"/>
+		<parent link="link_26"/>
+	</joint>
+	<link name="link_24">
+		<visual name="button-25">
+			<origin xyz="0.6028454999999999 0 0.255259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.6028454999999999 0 0.255259"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="-0.6028454999999999 0 -0.255259"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_24"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.06000000000000005"/>
+	</joint>
+	<link name="link_25">
+		<visual name="button-26">
+			<origin xyz="0.5866842078609722 -0.11145248551926003 0.14568541016495673"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.5866842078609722 -0.11145248551926003 0.14568541016495673"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="-0.5866842078609722 0.11145248551926003 -0.14568541016495673"/>
+		<axis xyz="-0.02546084077211876 -0.840821138303774 -0.5407139345057816"/>
+		<child link="link_25"/>
+		<parent link="link_26"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_26">
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-152.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-154.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-169.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-167.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-153.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-160.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-149.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-27">
+			<origin xyz="0 0 0"/>
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diff --git a/data/PartNet-Mobility/Camera/102874/mobility_v2.json b/data/PartNet-Mobility/Camera/102874/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..098b52c3c970c48b9718cec204d2103e1cf30b08
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":26,"joint":"hinge","name":"lens","parts":[{"id":1,"name":"lens"}],"jointData":{"axis":{"origin":[0.08764237852914344,-0.04320562147085657,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":26,"joint":"hinge","name":"lens","parts":[{"id":2,"name":"lens"}],"jointData":{"axis":{"origin":[0.08764237852914344,-0.04320562147085656,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":26,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.01200000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":26,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.01200000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":26,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.01200000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":26,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":26,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":7,"parent":26,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":8,"parent":26,"joint":"slider","name":"slider","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[-0.2488564465630684,0.29455000000000003,0],"direction":[0,0,1]},"limit":{"a":-0.024,"b":0,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":9,"parent":26,"joint":"slider","name":"slider","parts":[{"id":10,"name":"button"}],"jointData":{"axis":{"origin":[-0.2488564465630684,0.29455000000000003,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.052000000000000046,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":10,"parent":26,"joint":"slider","name":"button","parts":[{"id":11,"name":"button"}],"jointData":{"axis":{"origin":[0.0035699012118789973,-0.004553197218208284,-0.10595779755873753],"direction":[0.9660621887376304,0.2574143882717458,0.021486744800967537]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":11,"parent":26,"joint":"slider","name":"button","parts":[{"id":12,"name":"button"}],"jointData":{"axis":{"origin":[-0.029920143712218118,0.17428652376387663,-0.07445442493907169],"direction":[-0.9873930645272895,-0.15415195729697884,0.03594593419176442]},"limit":{"a":0,"b":0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":12,"parent":26,"joint":"slider","name":"button","parts":[{"id":13,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":13,"parent":26,"joint":"slider","name":"button","parts":[{"id":14,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":14,"parent":26,"joint":"slider","name":"button","parts":[{"id":15,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":15,"parent":26,"joint":"slider","name":"button","parts":[{"id":16,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":16,"parent":26,"joint":"slider","name":"button","parts":[{"id":17,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":17,"parent":26,"joint":"slider","name":"button","parts":[{"id":18,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":18,"parent":26,"joint":"slider","name":"button","parts":[{"id":19,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":19,"parent":26,"joint":"slider","name":"button","parts":[{"id":20,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":20,"parent":26,"joint":"slider","name":"button","parts":[{"id":21,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":21,"parent":26,"joint":"hinge","name":"knob","parts":[{"id":22,"name":"button"}],"jointData":{"axis":{"origin":[-0.5996784131574991,0.3421848995259451,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":22,"parent":26,"joint":"slider","name":"button","parts":[{"id":23,"name":"button"}],"jointData":{"axis":{"origin":[-0.6028454999999999,0,-0.255259],"direction":[0,1,0]},"limit":{"a":0,"b":-0.020000000000000018,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":23,"parent":26,"joint":"hinge","name":"knob","parts":[{"id":24,"name":"button"}],"jointData":{"axis":{"origin":[-0.30769691252166925,-0.04356746403738502,-0.4076548656175107],"direction":[-0.1401937809202762,0.9901240850475651,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":24,"parent":26,"joint":"slider","name":"button","parts":[{"id":25,"name":"button"}],"jointData":{"axis":{"origin":[-0.6028454999999999,0,-0.255259],"direction":[0,1,0]},"limit":{"a":0,"b":-0.06000000000000005,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":25,"parent":26,"joint":"slider","name":"button","parts":[{"id":26,"name":"button"}],"jointData":{"axis":{"origin":[-0.5866842078609722,0.11145248551926003,-0.14568541016495673],"direction":[0.02546084077211876,0.840821138303774,0.5407139345057816]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":26,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":27,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102874/result.json b/data/PartNet-Mobility/Camera/102874/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce4f0d84496e56d080aa65b83f4159f027a89df
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-138", "original-118"]}, {"text": "lens", "name": "lens", "id": 2, "objs": ["original-136"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-79"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-78"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-77"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-74"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-75"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-76"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-134"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-164"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-65"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-88"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-68"]}, {"text": "button", "name": "button", "id": 14, "objs": ["original-82"]}, {"text": "button", "name": "button", "id": 15, "objs": ["original-70"]}, {"text": "button", "name": "button", "id": 16, "objs": ["original-67"]}, {"text": "button", "name": "button", "id": 17, "objs": ["original-80"]}, {"text": "button", "name": "button", "id": 18, "objs": ["original-81"]}, {"text": "button", "name": "button", "id": 19, "objs": ["original-69"]}, {"text": "button", "name": "button", "id": 20, "objs": ["original-84"]}, {"text": "button", "name": "button", "id": 21, "objs": ["original-83"]}, {"text": "button", "name": "button", "id": 22, "objs": ["original-73"]}, {"text": "button", "name": "button", "id": 23, "objs": ["original-85"]}, {"text": "button", "name": "button", "id": 24, "objs": ["original-51", "original-49", "original-47"]}, {"text": "button", "name": "button", "id": 25, "objs": ["original-52"]}, {"text": "button", "name": "button", "id": 26, "objs": ["original-86"]}, {"text": "base_body", "name": "base_body", "id": 27, "objs": ["original-29", "original-103", "original-100", "original-123", "original-21", "original-30", "original-152", "original-132", "original-36", "original-154", "original-126", "original-169", "original-119", "original-41", "original-28", "original-124", "original-96", "original-64", "original-43", "original-167", "original-71", "original-22", "original-26", "original-117", "original-110", "original-153", "original-160", "original-104", "original-4", "original-149", "original-3", "original-128", "original-33", "original-2", "original-130", "original-137", "original-44", "original-112", "original-162", "original-106", "original-16", "original-8", "original-140", "original-147", "original-109", "original-13", "original-9", "original-125", "original-45", "original-35", "original-148", "original-156", "original-93", "original-61", "original-144", "original-39", "original-120", "original-5", "original-114", "original-54", "original-150", "original-168", "original-63", "original-27", "original-159", "original-87", "original-55", "original-163", "original-113", "original-50", "original-141", "original-6", "original-31", "original-37", "original-48", "original-15", "original-116", "original-122", "original-56", "original-108", "original-72", "original-99", "original-127", "original-133", "original-23", "original-158", "original-58", "original-145", "original-98", "original-11", "original-131", "original-38", "original-34", "original-18", "original-161", "original-91", "original-25", "original-17", "original-12", "original-92", "original-142", "original-42", "original-165", "original-102", "original-24", "original-20", "original-115", "original-32", "original-95", "original-7", "original-105", "original-101", "original-121", "original-94", "original-97", "original-157", "original-10", "original-14", "original-129", "original-60", "original-19", "original-90", "original-40", "original-143", "original-151", "original-155", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102874/result_original.json b/data/PartNet-Mobility/Camera/102874/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..13da778a851d48675e586ed512e36e9b8b57ad84
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-138", "original-118"]}, {"id": 2, "name": "lens", "text": "lens", "objs": ["original-136"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-79"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-78"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-77"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-74"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-75"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-76"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-134"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-164"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-65"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-88"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-68"]}, {"id": 14, "name": "button", "text": "button", "objs": ["original-82"]}, {"id": 15, "name": "button", "text": "button", "objs": ["original-70"]}, {"id": 16, "name": "button", "text": "button", "objs": ["original-67"]}, {"id": 17, "name": "button", "text": "button", "objs": ["original-80"]}, {"id": 18, "name": "button", "text": "button", "objs": ["original-81"]}, {"id": 19, "name": "button", "text": "button", "objs": ["original-69"]}, {"id": 20, "name": "button", "text": "button", "objs": ["original-84"]}, {"id": 21, "name": "button", "text": "button", "objs": ["original-83"]}, {"id": 22, "name": "button", "text": "button", "objs": ["original-73"]}, {"id": 23, "name": "button", "text": "button", "objs": ["original-85"]}, {"id": 24, "name": "button", "text": "button", "objs": ["original-51", "original-49", "original-47"]}, {"id": 25, "name": "button", "text": "button", "objs": ["original-52"]}, {"id": 26, "name": "button", "text": "button", "objs": ["original-86"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102874/semantics.txt b/data/PartNet-Mobility/Camera/102874/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6397062b1212b3ff5934f2565f100aed17096079
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/semantics.txt
@@ -0,0 +1,27 @@
+link_0 hinge lens
+link_1 hinge lens
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 slider slider
+link_9 slider slider
+link_10 slider button
+link_11 slider button
+link_12 slider button
+link_13 slider button
+link_14 slider button
+link_15 slider button
+link_16 slider button
+link_17 slider button
+link_18 slider button
+link_19 slider button
+link_20 slider button
+link_21 hinge knob
+link_22 slider button
+link_23 hinge knob
+link_24 slider button
+link_25 slider button
+link_26 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9050993f31ad9afbaec1e84cbb1928e51486853e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8784313725490196 0.8784313725490196 0.7803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.6549019607843137 0.6549019607843137 0.6549019607843137 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57e964c274fc386efb9dd74ad2d5d263b1e0c468
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-10.obj
@@ -0,0 +1,222 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID623
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new file mode 100644
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+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-100.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-100.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-100.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-101.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-101.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-101.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-101.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-102.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-102.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-102.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-102.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-102.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-103.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-103.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-103.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..427c24049bc90dd92cff201faf92ede7e5157583
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-103.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-109.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-109.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d057ec0a4406b061c7e82c3053d07828b9e1ae27
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-109.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-112.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-112.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-112.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-112.obj
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index 0000000000000000000000000000000000000000..252de5f44de049d6a6a26e1f7f868f09ef35d7b2
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-113.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-113.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38fb53defeca18ebf75ff6995252c2371ecb6242
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.mtl
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d10f599b6c8c5b51af9162666de88951748c5d0d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-114.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-115.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-115.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-115.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-115.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6188b6650dcda833a75cbc0f33f5dc7b38b09a1
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9a997fc8621951b09af710d7e1d33266b5fc7a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-116.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-119.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-119.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3819aec69ddf9309298dfd3c55fff798b6b2010
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bceff54cdeda005b0ec10009d020662d99ad1569
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-120.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..563e59b39cda4bbdbb3ed8b5a159a2654a11d47d
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+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-120.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-120.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7efeca48047cfb20a4777412f114931a7408a6df
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-125.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-125.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8f9c98c6b08dcea944b1e8dfd2330f4187a13d
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-126.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-126.obj
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index 0000000000000000000000000000000000000000..d3af4b7dd6aaac828e6820395d564b7455e742ea
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-127.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-127.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-127.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-127.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f67e778db69dc5ca6849841b43e4a8d71e1e3e08
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-128.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c08afff3b5f5e371866f9baa4968d8ee1adbbf0d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-136.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-137.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-137.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-137.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-137.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04ee0db8df48fb6d54e897da4b8e6830c2e430e6
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad31196245e97c48029fa8a1b5c4c5405a8e6dc1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-138.obj
@@ -0,0 +1,4951 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8784313725490196 0.8784313725490196 0.7803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5aee3f351926d158fe6634ab7db586a3469a8d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-14.obj
@@ -0,0 +1,691 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o #ID651
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9371f76c7f9c58a27522aeebd02c86f8c5c0cb6
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-140.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-147.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-147.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01e8564248004fb3e1d584c613c2df264aa4c5f4
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-147.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3d56875e538ca818d06604e4e990220695c79cc
--- /dev/null
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index 0000000000000000000000000000000000000000..e3819aec69ddf9309298dfd3c55fff798b6b2010
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-15.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..649b6457bd30258d011b200fb9111233775e4442
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-151.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-151.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f463083298b9b9311265943246551552e59ed02f
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-151.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..068fa9a08f4e5774f4bf7ff90e1d88a4eafdf9bf
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-152.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-152.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..01e8564248004fb3e1d584c613c2df264aa4c5f4
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-152.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f59e6d611326ba0c3ee38384204c013999d0f464
--- /dev/null
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index 0000000000000000000000000000000000000000..01e8564248004fb3e1d584c613c2df264aa4c5f4
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-153.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e25c1ae08084c5d6a7761e3f1244d0b2c38c000f
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new file mode 100644
index 0000000000000000000000000000000000000000..01e8564248004fb3e1d584c613c2df264aa4c5f4
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-154.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6dc4016a16d6dfe9d8fdc36134523a3c642a20b2
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-159.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-159.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-16.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-160.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-160.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-160.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-160.obj
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index 0000000000000000000000000000000000000000..02dba2d55c44cb26bf8b74a622db8f10e58b2d92
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new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-162.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-162.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-163.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-163.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-163.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-163.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-164.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-164.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-164.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-164.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce0c2807bbbe2fd003c43bbdcf4331822d6d5d3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-165.obj
@@ -0,0 +1,1169 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbaeba2041b67d7a4249ab315ce17112deb792a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-167.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.5019607843137255 0.5019607843137255 0.5019607843137255 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b464d5f55abb2ce4cf94a689c352864f04d87b4c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-168.obj
@@ -0,0 +1,2265 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-169.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-169.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-169.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f95fd7228ae407de7a762a3d7c859cb9b8cd1c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-20.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..754777e810cc693b4f6a1dc991f6ad3a93188526
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80ba2411e8603b1af50a3be0f978c28cf6668ca7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-26.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-28.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-28.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-29.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-3.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-3.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-30.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-30.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..3cadd511c6c009bf8fa2760b6aeb1cca559f7e4b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-31.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-31.mtl
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index 0000000000000000000000000000000000000000..87213d571886d15a6dc155a30bd85cb2ce374484
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-31.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..ceb62109a3205a46649392ec26ad40af80f9adcc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-32.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-36.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-40.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f237b8016fbc2d7a01a781035f36efe491df313
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-41.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37d8671cb88acb10da9ab4278cd9e60e2e7e0b08
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-41.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e579914608f83806eff20ffd1f8f1c939262699a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-42.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..37d8671cb88acb10da9ab4278cd9e60e2e7e0b08
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-42.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-42.obj
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index 0000000000000000000000000000000000000000..dbe94155ea25e3b5f110cf36f01edce9ef84801d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-44.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-44.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-44.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-48.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-48.mtl
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index 0000000000000000000000000000000000000000..d0025ff4822d37edadb8d66c3a25372ed58ea884
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-48.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-48.obj
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index 0000000000000000000000000000000000000000..6458ecf3e453b7055f5f6ce34334ec5633519123
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index 0000000000000000000000000000000000000000..d0025ff4822d37edadb8d66c3a25372ed58ea884
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-49.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-5.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..67b6398564215611dbc3749954414e54454c839c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-5.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4949329742cf300d099db975cae7a3e33aaf3d89
--- /dev/null
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index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-54.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-54.obj
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index 0000000000000000000000000000000000000000..08d7d74a1b313e60dfbd36a0a3664e9b42295bfa
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index 0000000000000000000000000000000000000000..b7b62233d75cf28df96d298fda452587c65d1321
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-56.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-56.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-56.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-56.obj
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index 0000000000000000000000000000000000000000..0c2ddbd39c6e0e151e798f2f266be92d57fd3710
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-57.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..face740a45433dd148efb3c8d1af715e0864e28d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-58.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-6.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f839ae2a148fa065c562c275b8a450e06b7fd10
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8784313725490196 0.8784313725490196 0.7803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4af6de3372249430e92be2189d5dc10791b12ba7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-60.obj
@@ -0,0 +1,511 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-61.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-61.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b638b88502372e3404b0785f67b44e965def528
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75597cc2e905699633c9e68b3265fbb7e9364581
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-63.obj
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index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-68.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
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new file mode 100644
index 0000000000000000000000000000000000000000..ea396d1561b41b27e858044998effbbe49ff080d
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-69.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-69.obj
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index 0000000000000000000000000000000000000000..b371207f30c7e46d848af39d5053499daa5c8614
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-7.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4834082fbcb9b130dd5ac89592f978466f4a6f8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-72.obj
@@ -0,0 +1,4761 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fc4cf8caf57a3c585501268f3137a0484fab5c5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-73.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba8c559fa311a93e29b581711c8fc30f74843a30
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-74.obj
@@ -0,0 +1,1485 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..464d86ec4964789cff4ba330c6afcdbc31e5fa64
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-75.obj
@@ -0,0 +1,1477 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2acb98b7701019e5c55a703926ab8ade973f4e02
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-76.obj
@@ -0,0 +1,1477 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..318e2238bb7bf40bca7e9b71605cff35ee144249
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-77.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c96c1b42f6ad7728ac56e68ad81b5988a44a702
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-79.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-79.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6608941b689d7468023f15364b93e73a8ebe7b43
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27755647d9242c8478f19c59207e455d1ac66ea7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.mtl
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+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba525a28e7c4be2098ab3bb85e24084f27dbf5c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-80.obj
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+mtllib original-80.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4dbbc5225e567844e0847ecf8763a710b774fc5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-81.obj
@@ -0,0 +1,1477 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-82.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-82.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..305d8b9e154276d71b14c061a15358d36bef9905
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ebfa77bea15993641db97b231c12d9fc74847e6
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-83.obj
@@ -0,0 +1,1031 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.mtl
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6976d2046d119f0a2d5511b9b4254b1730b6e9fc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..298eeaa00d47f393bb57310d2acce241fc5703de
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-85.obj
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e24dd97e24357845a2d0bb0cf70388ab34374cd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-86.obj
@@ -0,0 +1,1479 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21a617b4d1885374a46bbf4f20b804608a1a9443
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2 0.13333333333333333 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec1c2c5e3d701f30661cda83590ba7314db334b1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-87.obj
@@ -0,0 +1,1269 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccf490e83a15569255d073c0d0d704ecdb852650
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13333333333333333 0.13333333333333333 0.13333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f36e2372db9c7b9d592b761d6a8c1234d40d981
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-88.obj
@@ -0,0 +1,1509 @@
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-91.mtl b/data/PartNet-Mobility/Camera/102874/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-91.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c047b8f657cc246cdde4307588c1f07925f5f0f5
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-98.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-98.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..649b6457bd30258d011b200fb9111233775e4442
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diff --git a/data/PartNet-Mobility/Camera/102874/textured_objs/original-99.obj b/data/PartNet-Mobility/Camera/102874/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4c1e19b73bc185ffcea858dc77c7122f87dc388
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102874/textured_objs/original-99.obj
@@ -0,0 +1,48 @@
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diff --git a/data/PartNet-Mobility/Camera/102876/bounding_box.json b/data/PartNet-Mobility/Camera/102876/bounding_box.json
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/bounding_box.json
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102876/meta.json b/data/PartNet-Mobility/Camera/102876/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..572303e23161940175253e1050740d2590367ccd
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+++ b/data/PartNet-Mobility/Camera/102876/meta.json
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diff --git a/data/PartNet-Mobility/Camera/102876/mobility.urdf b/data/PartNet-Mobility/Camera/102876/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..188b0da4a3cf92dbc849984d6e071ac96389ea6e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/mobility.urdf
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+<?xml version="1.0" ?>
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+		<visual name="lens-1">
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+			</geometry>
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+		<collision>
+			<origin xyz="-0.4649874183281054 -0.01849341832810546 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="lens-2">
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+			</geometry>
+		</visual>
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+			<origin xyz="-0.4649874183281054 -0.01849341832810546 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
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+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
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+		</visual>
+		<visual name="lens-3">
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+			<geometry>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-3">
+			<origin xyz="-0.4649874183281054 -0.01849341832810546 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-3">
+			<origin xyz="-0.4649874183281054 -0.01849341832810546 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-3">
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+		<child link="link_2"/>
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+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-4">
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+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
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+	</link>
+	<joint name="joint_3" type="prismatic">
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+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_6"/>
+		<limit lower="0" upper="0.0040000000000000036"/>
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+		</visual>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_4" type="revolute">
+		<origin xyz="-0.26391478656618134 0 -0.006746000000000002"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_6"/>
+		<limit lower="-0.0" upper="1.5707963267948966"/>
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+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="button-6">
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+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
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+		</visual>
+		<collision>
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+	</link>
+	<joint name="joint_5" type="prismatic">
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+		<axis xyz="0 -1 0"/>
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+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_6"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Camera/102876/mobility_v2.json b/data/PartNet-Mobility/Camera/102876/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..761b9cd135ebc19d0b33e4aeb60c656aed88b85b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":6,"joint":"hinge","name":"lens","parts":[{"id":1,"name":"lens"}],"jointData":{"axis":{"origin":[0.4649874183281054,0.01849341832810546,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":6,"joint":"hinge","name":"lens","parts":[{"id":2,"name":"lens"}],"jointData":{"axis":{"origin":[0.4649874183281054,0.01849341832810546,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":6,"joint":"hinge","name":"lens","parts":[{"id":3,"name":"lens"}],"jointData":{"axis":{"origin":[0.4649874183281054,0.01849341832810546,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":6,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":6,"joint":"hinge","name":"knob","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[-0.26391478656618134,0,-0.006746000000000002],"direction":[0,-1,0]},"limit":{"a":0,"b":-90,"noLimit":false}}},{"id":5,"parent":6,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":-0.01200000000000001,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":7,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102876/result.json b/data/PartNet-Mobility/Camera/102876/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41134b27f909f5623262e22d200ff018c982a06
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-16", "original-25"]}, {"text": "lens", "name": "lens", "id": 2, "objs": ["original-17", "original-26"]}, {"text": "lens", "name": "lens", "id": 3, "objs": ["original-29", "original-15", "original-20", "original-14", "original-30", "original-21"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-11", "original-22"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-32", "original-31", "original-33"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-27", "original-19"]}, {"text": "base_body", "name": "base_body", "id": 7, "objs": ["original-28", "original-4", "original-3", "original-2", "original-13", "original-35", "original-5", "original-6", "original-23", "original-34", "original-18", "original-12", "original-24", "original-7", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102876/result_original.json b/data/PartNet-Mobility/Camera/102876/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..38833eb201a097535136478db28170e3c9e8dc8f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-16", "original-25"]}, {"id": 2, "name": "lens", "text": "lens", "objs": ["original-17", "original-26"]}, {"id": 3, "name": "lens", "text": "lens", "objs": ["original-29", "original-15", "original-20", "original-14", "original-30", "original-21"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-11", "original-22"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-32", "original-31", "original-33"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-27", "original-19"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102876/semantics.txt b/data/PartNet-Mobility/Camera/102876/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb5bcae273dc5ae8d3dfd62d16df0faa4c941d44
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/semantics.txt
@@ -0,0 +1,7 @@
+link_0 hinge lens
+link_1 hinge lens
+link_2 hinge lens
+link_3 slider button
+link_4 hinge knob
+link_5 slider button
+link_6 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87a02293c384499483e5e1aac75c0fe3e2d5c2e3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-10.obj
@@ -0,0 +1,1987 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh7/mesh7-geometry/material_0/component_0#mesh7-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cec37111ca17fda438bc7204e34dcce6daa63d06
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.mtl
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9da7947c3a47f35ce350d3129a83bea967b3cc31
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-12.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_2
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+map_Kd ../images/texture_0.jpg
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c4af3be34275852b5774c0ea47d96b0269565a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-13.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8863819836317c2fdb3773da8d8a01e4dad7004
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-14.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-15.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-15.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed92a3c6581952d71d3c5e28a5798b8e4a19da83
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-16.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-16.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0961d6f4cb6848503b8fa58d14cdf9d3242b8082
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25c28f946af10e85d404ba007c728404a288d558
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c7b942ce5f9c425914feb16cf8ddac4dc6c2277
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-18.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a389ee5157b7b3499a0d8485fa725399b3da3039
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-19.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7a20c5a2320760178030e3f2438cf7b682a5514
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-2.obj
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+mtllib original-2.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c7c0cb96b7b3c2c5630bdf72c7c917bc387307
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-20.obj
@@ -0,0 +1,270 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12092b31bb3c0cafda7aec52af2e6c5d5b50acd9
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-21.obj
@@ -0,0 +1,70 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o mesh7/mesh7-geometry/material_1/component_5#mesh7-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bf18d5f8fc6c66fe9d123efae304acd0ea1364c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-22.obj
@@ -0,0 +1,270 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.obj
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index 0000000000000000000000000000000000000000..7a3aaefa03355753705c0892338dab927415d1ec
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-24.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-24.mtl
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index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-24.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..63faf3043ee82742fd1cd3114e642a8e482b09a3
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-25.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-25.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-25.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..5cf07df71b3e43a24745219fe3fd72ff0b743285
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c43e6c04508e2b009e3f99338cf024c3a0240821
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be2dc2d0b0e643e05c379b89f4b29444c838ffb3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-27.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o mesh7/mesh7-geometry/material_3/component_2#mesh7-geometry
+v 0.246317 0.610726 0.029699
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47ce308d37b62cca634ee7d883d64caa8c93b234
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-28.obj
@@ -0,0 +1,50 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o mesh7/mesh7-geometry/material_3/component_3#mesh7-geometry
+v 0.483210 0.474057 0.303037
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ecfb630bb2433bf224094f1f0b8b3ea893f6790
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-29.obj
@@ -0,0 +1,148 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o mesh7/mesh7-geometry/material_3/component_4#mesh7-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee502fa0559eaa4a822c6ea1b1e2c24e0b14f344
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-3.obj
@@ -0,0 +1,217 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc1c99b5c79a841257edd16fd1768c4cc2121633
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-30.obj
@@ -0,0 +1,28 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o mesh7/mesh7-geometry/material_3/component_5#mesh7-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfe278ee440112660e9ba289b8d130072ecee7f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6746bb0496c4722537b319b04e9bf9d0b14f415a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-31.obj
@@ -0,0 +1,769 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0dfdcb01dc977c3243a12626bef9ab4487da82b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-32.obj
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+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6ad988747a3c7c3ce0c0cd513c76e6c3dacb86c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-33.obj
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+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0207fe806293452502c238de0edbdd00c71e78e5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.mtl
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+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c95ca13aa203831ccbeb6057e0748362bd4bb5a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-34.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o mesh8/mesh8-geometry/material_2#mesh8-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f6d30368551c3fe511db0c75baf3c45acf0a74dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.mtl
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+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fe4b79bf25c810fddcce47a3f5fab6b40d73674
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-35.obj
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+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3c214161ea59bc97fbf2ee17dcc49d9825cca57a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-4.obj
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+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a981722095f1fa223b377bbe688d7c4e66b325
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-5.obj
@@ -0,0 +1,169 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8675a431ebb3c21b690f694b6de316d1f8235f56
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-6.obj
@@ -0,0 +1,126 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o mesh5/mesh5-geometry#mesh5-geometry
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diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.mtl b/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9237a7c2c43439aa31e98b170f15e09c7dedf216
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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+
diff --git a/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.obj b/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04abb344ff64443aec58582da2a5dc1a93a07ef1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102876/textured_objs/original-7.obj
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+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
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+v 0.074232 -0.078467 0.284906
+v 0.074232 -0.086573 0.284906
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+vn 0 0 1
+usemtl material_0_2
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diff --git a/data/PartNet-Mobility/Camera/102882/bounding_box.json b/data/PartNet-Mobility/Camera/102882/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1ac40fdf0425aef1f7d1c8c9ad8cf8561f69fd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.842195, -0.534361, -0.389862], "max": [0.822302, 0.630787, 0.467354]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102882/images/texture_0.jpg b/data/PartNet-Mobility/Camera/102882/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e450eb9868c2d60eec376dc88016702a650f2230
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69a4e663bfab4b8ef890f4598a77b5bb10f4a7c2eb8a020fb00bdb481bc996a
+size 6202
diff --git a/data/PartNet-Mobility/Camera/102882/meta.json b/data/PartNet-Mobility/Camera/102882/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7277fa167515a6682f1a6f38455a6d8dd35f2ef5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "Camera", "model_id": "f05658d8-9232-43a9-b2d4-ec2c90968f27", "version": "1", "anno_id": "2882", "time_in_sec": "47"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102882/mobility.urdf b/data/PartNet-Mobility/Camera/102882/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..95adf619265444979afc40a185da6b05e4dce342
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/mobility.urdf
@@ -0,0 +1,497 @@
+<?xml version="1.0" ?>
+<robot name="partnet_f05658d8-9232-43a9-b2d4-ec2c90968f27">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lens-1">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.01042092015719185 -0.03501238762157689 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01042092015719185 0.03501238762157689 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="-0.01042092015719185 -0.03501238762157689 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_5"/>
+		<limit lower="0" upper="0.016000000000000014"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_3"/>
+		<parent link="link_5"/>
+		<limit lower="0" upper="0.08400000000000007"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-9">
+			<origin xyz="-0.5726271199517782 0 0.11521911995177817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-9">
+			<origin xyz="-0.5726271199517782 0 0.11521911995177817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.5726271199517782 0 0.11521911995177817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.5726271199517782 0 0.11521911995177817"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
+		<origin xyz="0.5726271199517782 0 -0.11521911995177817"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_4"/>
+		<parent link="link_5"/>
+	</joint>
+	<link name="link_5">
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_5"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Camera/102882/mobility_v2.json b/data/PartNet-Mobility/Camera/102882/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..879d3c35328253015dffd9eb6034b7d5889026f2
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":5,"joint":"hinge","name":"lens","parts":[{"id":1,"name":"lens"}],"jointData":{"axis":{"origin":[-0.01042092015719185,-0.03501238762157689,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":5,"joint":"hinge","name":"lens","parts":[{"id":2,"name":"lens"}],"jointData":{"axis":{"origin":[-0.01042092015719185,-0.03501238762157689,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":5,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.016000000000000014,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":5,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":-0.08400000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":5,"joint":"hinge","name":"knob","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[0.5726271199517782,0,-0.11521911995177817],"direction":[0,1,0]},"limit":{"a":0,"b":-0.07600000000000007,"noLimit":true}}},{"id":5,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":11,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102882/result.json b/data/PartNet-Mobility/Camera/102882/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..429b2600538408ce7808bdf59e5e3ca1aa13ba35
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "lens", "name": "lens", "id": 1, "objs": ["original-6"]}, {"text": "lens", "name": "lens", "id": 2, "objs": ["original-1", "original-13", "original-15", "original-22", "original-19", "original-5", "original-3", "original-24", "original-4"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-26", "original-17", "original-21", "original-16", "original-2"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-30", "original-9"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-20", "original-10"]}, {"text": "button", "name": "button", "id": 10}, {"text": "base_body", "name": "base_body", "id": 11, "objs": ["original-29", "original-36", "original-28", "original-33", "original-8", "original-35", "original-27", "original-37", "original-23", "original-11", "original-38", "original-34", "original-18", "original-25", "original-12", "original-32", "original-7", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102882/result_original.json b/data/PartNet-Mobility/Camera/102882/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a1dec2df26697bf999ff5c738e61d94a2526cee
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "lens", "text": "lens", "objs": ["original-6"]}, {"id": 2, "name": "lens", "text": "lens", "objs": ["original-1", "original-13", "original-15", "original-22", "original-19", "original-5", "original-3", "original-24", "original-4"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-26", "original-17", "original-21", "original-16", "original-2"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-30", "original-9"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-20", "original-10"]}, {"id": 10, "name": "button", "text": "button"}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102882/semantics.txt b/data/PartNet-Mobility/Camera/102882/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..45bbaa3c9479820bc2bd129ff11e9d5dfaf3ba74
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/semantics.txt
@@ -0,0 +1,6 @@
+link_0 hinge lens
+link_1 hinge lens
+link_2 slider button
+link_3 slider button
+link_4 hinge knob
+link_5 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67fc59e6da9817b35b90393ea9dc5e2b588a3ebf
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-1.obj
@@ -0,0 +1,292 @@
+# SSTK version 0.8.0
+# 1
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..449de606424618bb8a2064580033ac273230a29e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2386a86c12c330cfe5546f9c1488144574c7a81f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-11.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o #ID119
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8581df8e6b31378abacfa5c0381802da9542de0e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-12.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o #ID125
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aeea6fe3366a6766673f9bd0f40ed32070e8ea1f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-13.obj
@@ -0,0 +1,75 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69f08c43b07d73b1c630d72c540afad5c1afa7d5
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-14.obj
@@ -0,0 +1,240 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o #ID139
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-15.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..b12d7708fceffd9fb8957b67e5a69fea7be00b79
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-16.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-16.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-17.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00197d9cec9b27c07b147936ded38680dc59957f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-18.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-18.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-18.obj
new file mode 100644
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+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-19.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-19.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-19.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-2.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-2.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-2.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b801cd0d08601961f6252ee9348bc2df7a28278
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-20.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-20.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-20.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a7e45ea1060a35bdebc2bba23495817152d926
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ff2602b99d8d6aacfe48501efe853dee0320504
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-27.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
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+mtllib original-27.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57668886e62ccb57b407e02fcc467c4cc0698949
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-28.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o #ID223
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee14cea5871b3f892735ddcb66ae7353eb39171
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-29.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o #ID229
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..964082b9f635218fb8a6d07cbfaee1055c90c4d1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3faab8a1a808deb4e161613807db9f93c6c05b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-3.obj
@@ -0,0 +1,105 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o #ID65
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.44313725490196076 0.44313725490196076 0.44313725490196076 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8c10ad9ef91d82f382a53ea567d03d074c0f138
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-33.obj
@@ -0,0 +1,1129 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.44313725490196076 0.44313725490196076 0.44313725490196076 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b91c8a7175d5ac14c5072ec4d02225fb3cfc8645
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-34.obj
@@ -0,0 +1,893 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de562191fc8cc60be7a60e6104e739e707840bcd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d92059235e40db39b884e8042a161b27564a6a32
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..112491c94dfc216b015ca274434d5088dcb08176
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-4.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-5.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-5.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f2c2a79f27227337122938a99040a0855f5e415
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.mtl b/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.obj b/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e2713caf7ad67970170772e1ee24e7135d273f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102882/textured_objs/original-6.obj
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+		</visual>
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+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-730.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-739.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-2">
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-732.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-734.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-733.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-730.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-739.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-732.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.1161235 -0.01093695590310278 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lens-3">
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-740.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-3">
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-738.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lens-3">
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-737.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-740.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-738.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.1161235 0.01093695590310278 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-737.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="continuous">
+		<origin xyz="0.1161235 -0.01093695590310278 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_18"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-251.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-251.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_2"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-250.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-249.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-247.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-248.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-250.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-249.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-247.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-248.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_3"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-243.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-245.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-244.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-242.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-243.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-245.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-244.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-242.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_4"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-7">
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+			<geometry>
+				<mesh filename="textured_objs/original-617.obj"/>
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+		<visual name="button-7">
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+			<geometry>
+				<mesh filename="textured_objs/original-618.obj"/>
+			</geometry>
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+			<geometry>
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+		<visual name="button-7">
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+			<geometry>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-618.obj"/>
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+		<collision>
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+			<geometry>
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-615.obj"/>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="continuous">
+		<origin xyz="-0.18586640344415795 0 -0.40002439205522944"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_5"/>
+		<parent link="link_18"/>
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+	<link name="link_6">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+			<geometry>
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+			</geometry>
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+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_6"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.003"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="button-9">
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+		<visual name="button-9">
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+			<geometry>
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+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+			<geometry>
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+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_7"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.003"/>
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+	<link name="link_8">
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+		<axis xyz="0 1 0"/>
+		<child link="link_8"/>
+		<parent link="link_18"/>
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+		<child link="link_9"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.003"/>
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+			<geometry>
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+		<axis xyz="0 -0.7095159825742795 0.704689343236901"/>
+		<child link="link_10"/>
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+		<limit lower="0" upper="0.003"/>
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+			<geometry>
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+		<visual name="button-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+		<visual name="button-13">
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+			<geometry>
+				<mesh filename="textured_objs/original-411.obj"/>
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+		<visual name="button-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
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+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
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+		<axis xyz="0 0 1"/>
+		<child link="link_11"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.003"/>
+	</joint>
+	<link name="link_12">
+		<visual name="button-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-398.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-399.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-398.obj"/>
+			</geometry>
+		</collision>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-399.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_12"/>
+		<parent link="link_18"/>
+		<limit lower="0" upper="0.003"/>
+	</joint>
+	<link name="link_13">
+		<visual name="button-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-405.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-15">
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+			<geometry>
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+		<visual name="button-15">
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+			<geometry>
+				<mesh filename="textured_objs/original-404.obj"/>
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+		<visual name="button-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-407.obj"/>
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+		</visual>
+		<visual name="button-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-406.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-541.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-440.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-681.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_18"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Camera/102890/mobility_v2.json b/data/PartNet-Mobility/Camera/102890/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ef48799a86dcd1e48592fa13f7ddd7360a50ce
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":1,"name":"outlier"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,0]},"limit":{"a":0,"b":0,"noLimit":false}}},{"id":1,"parent":19,"joint":"hinge","name":"lens","parts":[{"id":2,"name":"lens"}],"jointData":{"axis":{"origin":[0.1161235,-0.01093695590310278,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":19,"joint":"hinge","name":"lens","parts":[{"id":3,"name":"lens"}],"jointData":{"axis":{"origin":[0.1161235,-0.01093695590310278,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":3,"parent":19,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.005,"noLimit":false}}},{"id":4,"parent":19,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.005,"noLimit":false}}},{"id":5,"parent":19,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.005,"noLimit":false}}},{"id":6,"parent":19,"joint":"hinge","name":"knob","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[-0.18586640344415795,0,-0.40002439205522944],"direction":[0,1,0]},"limit":{"a":0,"b":0.003,"noLimit":true}}},{"id":7,"parent":19,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,-1,0]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":8,"parent":19,"joint":"slider","name":"button","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,-1,0]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":9,"parent":19,"joint":"hinge","name":"knob","parts":[{"id":10,"name":"button"}],"jointData":{"axis":{"origin":[-0.2050771421551021,0,-0.32461224622164647],"direction":[0,1,0]},"limit":{"a":0,"b":0.003,"noLimit":true}}},{"id":10,"parent":19,"joint":"slider","name":"button","parts":[{"id":11,"name":"button"}],"jointData":{"axis":{"origin":[-0.3321976652248889,0.3047914688494595,0.005121158886067012],"direction":[0.023017581419857394,0.9910207577722323,0.13171199114025556]},"limit":{"a":0,"b":-0.003,"noLimit":false}}},{"id":11,"parent":19,"joint":"slider","name":"button","parts":[{"id":12,"name":"button"}],"jointData":{"axis":{"origin":[0.371019,-0.08631347413604241,-0.08690466546533311],"direction":[0,0.7095159825742795,-0.704689343236901]},"limit":{"a":0,"b":-0.003,"noLimit":false}}},{"id":12,"parent":19,"joint":"slider","name":"button","parts":[{"id":13,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":13,"parent":19,"joint":"slider","name":"button","parts":[{"id":14,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":14,"parent":19,"joint":"slider","name":"button","parts":[{"id":15,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":15,"parent":19,"joint":"slider","name":"button","parts":[{"id":16,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":16,"parent":19,"joint":"slider","name":"button","parts":[{"id":17,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":17,"parent":19,"joint":"slider","name":"button","parts":[{"id":18,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.005,"noLimit":false}}},{"id":18,"parent":19,"joint":"slider","name":"button","parts":[{"id":19,"name":"button"}],"jointData":{"axis":{"origin":[-0.5030940123244801,0.11686923754063172,-0.13859613963568276],"direction":[-0.3233548675161321,-0.34876993959249725,0.879659683565338]},"limit":{"a":0,"b":0.003,"noLimit":false}}},{"id":19,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":20,"name":"base_body"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,0]},"limit":{"a":0,"b":0,"noLimit":false}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102890/result.json b/data/PartNet-Mobility/Camera/102890/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bf51285ecfbb2c44a56b88079f5d358a64009b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/result.json
@@ -0,0 +1 @@
+[{"text": "Camera", "name": "Camera", "id": 0, "children": [{"text": "outlier", "name": "outlier", "id": 1, "objs": ["original-807", "original-811", "original-813", "original-808", "original-799", "original-804", "original-809", "original-806", "original-802", "original-803", "original-805", "original-814", "original-812", "original-801", "original-800"]}, {"text": "lens", "name": "lens", "id": 2, "objs": ["original-734", "original-733", "original-730", "original-739", "original-732"]}, {"text": "lens", "name": "lens", "id": 3, "objs": ["original-740", "original-738", "original-737"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-251"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-250", "original-249", "original-247", "original-248"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-243", "original-245", "original-244", "original-242"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-617", "original-618", "original-620", "original-615", "original-619"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-581", "original-582"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-577", "original-574", "original-576", "original-578", "original-575"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-614", "original-612", "original-613"]}, {"text": "button", "name": "button", "id": 11, "objs": ["original-200"]}, {"text": "button", "name": "button", "id": 12, "objs": ["original-568"]}, {"text": "button", "name": "button", "id": 13, "objs": ["original-413", "original-410", "original-412", "original-411", "original-409"]}, {"text": "button", "name": "button", "id": 14, "objs": ["original-398", "original-399"]}, {"text": "button", "name": "button", "id": 15, "objs": ["original-405", "original-408", "original-404", "original-407", "original-406"]}, {"text": "button", "name": "button", "id": 16, "objs": ["original-400", "original-403", "original-402", "original-401"]}, {"text": "button", "name": "button", "id": 17, "objs": ["original-397", "original-395", "original-394", "original-396"]}, {"text": "button", "name": "button", "id": 18, "objs": ["original-252"]}, {"text": "button", "name": "button", "id": 19, "objs": ["original-563"]}, {"text": "base_body", "name": "base_body", "id": 20, "objs": ["original-445", "original-29", "original-103", "original-784", "original-387", "original-727", "original-347", "original-100", "original-534", "original-483", "original-21", "original-692", "original-592", "original-791", "original-208", "original-30", "original-152", "original-132", "original-236", "original-36", "original-154", "original-451", "original-352", "original-736", "original-517", "original-753", "original-606", "original-169", "original-719", "original-392", "original-372", "original-789", "original-311", "original-671", "original-278", "original-119", "original-546", "original-795", "original-294", "original-317", "original-41", 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"original-106", "original-743", "original-16", "original-674", "original-8", "original-173", "original-651", "original-140", "original-147", "original-544", "original-465", "original-109", "original-471", "original-699", "original-259", "original-689", "original-13", "original-210", "original-748", "original-792", "original-381", "original-714", "original-268", "original-9", "original-490", "original-376", "original-362", "original-504", "original-713", "original-125", "original-45", "original-776", "original-35", "original-148", "original-172", "original-388", "original-267", "original-375", "original-279", "original-138", "original-156", "original-201", "original-334", "original-286", "original-565", "original-49", "original-184", "original-93", "original-369", "original-416", "original-61", "original-361", "original-39", "original-669", "original-586", "original-255", "original-318", "original-291", "original-5", "original-77", "original-114", "original-794", "original-275", 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"original-163", "original-442", "original-697", "original-493", "original-319", "original-113", "original-237", "original-50", "original-141", "original-417", "original-653", "original-434", "original-685", "original-715", "original-687", "original-474", "original-553", "original-635", "original-383", "original-111", "original-526", "original-647", "original-282", "original-315", "original-6", "original-609", "original-515", "original-292", "original-287", "original-788", "original-289", "original-31", "original-187", "original-218", "original-591", "original-178", "original-637", "original-793", "original-495", "original-718", "original-37", "original-48", "original-460", "original-480", "original-15", "original-749", "original-390", "original-116", "original-363", "original-519", "original-85", "original-258", "original-665", "original-542", "original-314", "original-177", "original-482", "original-780", "original-122", "original-632", "original-56", "original-219", "original-135", "original-76", "original-522", "original-543", "original-467", "original-815", "original-820", "original-344", "original-668", "original-360", "original-175", "original-489", "original-454", "original-773", "original-327", "original-351", "original-505", "original-624", "original-186", "original-357", "original-207", "original-72", "original-328", "original-99", "original-354", "original-548", "original-654", "original-136", "original-313", "original-127", "original-494", "original-623", "original-62", "original-661", "original-766", "original-342", "original-174", "original-610", "original-786", "original-711", "original-205", "original-326", "original-133", "original-274", "original-491", "original-571", "original-560", "original-432", "original-531", "original-23", "original-709", "original-227", "original-299", "original-254", "original-496", "original-650", "original-463", "original-209", "original-631", "original-555", "original-331", "original-158", "original-655", 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"original-14", "original-747", "original-232", "original-336", "original-215", "original-693", "original-477", "original-353", "original-82", "original-443", "original-641", "original-129", "original-60", "original-204", "original-348", "original-539", "original-472", "original-229", "original-724", "original-19", "original-276", "original-284", "original-646", "original-552", "original-341", "original-90", "original-40", "original-266", "original-359", "original-143", "original-330", "original-593", "original-649", "original-678", "original-441", "original-710", "original-151", "original-781", "original-583", "original-532", "original-676", "original-516", "original-767", "original-355", "original-46", "original-690", "original-758", "original-694", "original-425", "original-656", "original-817", "original-499", "original-256", "original-155", "original-194", "original-176", "original-333", "original-57", "original-680", "original-164", "original-492", "original-541", "original-440", "original-681"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102890/result_original.json b/data/PartNet-Mobility/Camera/102890/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..156441a23de1d04d4fad4a7bb21ac06a84e3472c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Camera", "text": "Camera", "children": [{"id": 1, "name": "outlier", "text": "outlier", "objs": ["original-807", "original-811", "original-813", "original-808", "original-799", "original-804", "original-809", "original-806", "original-802", "original-803", "original-805", "original-814", "original-812", "original-801", "original-800"]}, {"id": 2, "name": "lens", "text": "lens", "objs": ["original-734", "original-733", "original-730", "original-739", "original-732"]}, {"id": 3, "name": "lens", "text": "lens", "objs": ["original-740", "original-738", "original-737"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-251"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-250", "original-249", "original-247", "original-248"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-243", "original-245", "original-244", "original-242"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-617", "original-618", "original-620", "original-615", "original-619"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-581", "original-582"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-577", "original-574", "original-576", "original-578", "original-575"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-614", "original-612", "original-613"]}, {"id": 11, "name": "button", "text": "button", "objs": ["original-200"]}, {"id": 12, "name": "button", "text": "button", "objs": ["original-568"]}, {"id": 13, "name": "button", "text": "button", "objs": ["original-413", "original-410", "original-412", "original-411", "original-409"]}, {"id": 14, "name": "button", "text": "button", "objs": ["original-398", "original-399"]}, {"id": 15, "name": "button", "text": "button", "objs": ["original-405", "original-408", "original-404", "original-407", "original-406"]}, {"id": 16, "name": "button", "text": "button", "objs": ["original-400", "original-403", "original-402", "original-401"]}, {"id": 17, "name": "button", "text": "button", "objs": ["original-397", "original-395", "original-394", "original-396"]}, {"id": 18, "name": "button", "text": "button", "objs": ["original-252"]}, {"id": 19, "name": "button", "text": "button", "objs": ["original-563"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Camera/102890/semantics.txt b/data/PartNet-Mobility/Camera/102890/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..21c884994b7c91895ebd207000c4b08fa71bc4ea
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/semantics.txt
@@ -0,0 +1,19 @@
+link_0 hinge lens
+link_1 hinge lens
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 hinge knob
+link_6 slider button
+link_7 slider button
+link_8 hinge knob
+link_9 slider button
+link_10 slider button
+link_11 slider button
+link_12 slider button
+link_13 slider button
+link_14 slider button
+link_15 slider button
+link_16 slider button
+link_17 slider button
+link_18 free camera_body
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39982e770069084fa8b3e670f895ae2f42deb8d0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-10.obj
@@ -0,0 +1,74 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID1093
+v -0.049498 0.369482 -0.430322
+v 0.281478 0.370221 -0.428082
+v 0.281684 0.369482 -0.430322
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-107.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-107.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-109.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-109.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-109.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-109.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-11.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-11.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511023aa9d310dac69220b6f449692d65581fa4c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-110.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-110.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-111.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-111.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-111.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-111.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-111.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-112.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-112.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-112.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-112.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-113.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-113.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-113.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-113.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-115.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-115.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-12.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-121.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-121.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85ae19b576e356649bad0037f0a2e925c67fb195
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-122.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-122.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aab0dac75108ee8675d226d057066be3fac922ca
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-127.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-127.mtl
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index 0000000000000000000000000000000000000000..5f78801a46703cf30b79090ea6c36733ca2b65cf
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-127.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-127.obj
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index 0000000000000000000000000000000000000000..029b5c7587f1e91abb52066fa9c41d1d5f81edd3
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e02136b4bfffb5b3b406e1161b459ee908278a89
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4e915146c260923079b5116d4b7edd1095c976
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-128.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8171179cb38f48e39b4710a553fa366ca5bb2264
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.obj
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index 0000000000000000000000000000000000000000..b879f246291ad084730e430d7fb863e17ea00120
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-129.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-13.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-13.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-13.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-13.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-130.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-130.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-130.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9424581076dee97de61bc0ef427f371439599f39
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-130.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-131.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-131.mtl
new file mode 100644
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-131.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-131.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-131.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.mtl
new file mode 100644
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-132.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-133.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-133.mtl
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-133.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-133.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-133.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-134.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-134.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-134.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-134.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-134.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.mtl
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.obj
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index 0000000000000000000000000000000000000000..58fb187145f016a373276f4c03ae519073e9f598
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-135.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-138.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-138.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-138.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-139.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-139.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-139.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-139.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa6eb00f3aaa7d8bab5ec9cb8eaccfb9b6a3996b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-140.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-140.mtl
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index 0000000000000000000000000000000000000000..3a88930ec3719c30f844395af34da4f369fbfb47
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-140.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-140.obj
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index 0000000000000000000000000000000000000000..79162e429167971e5fe6df6c212af519bdab8686
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-140.obj
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+# SSTK version 0.8.0
+# 143
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-145.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-145.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-145.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05d5253e382906590ae14e183dbcc5a0b542884d
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367e7d66978de61848e0c05f94689982e4236921
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-147.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03987cae4f07b9741bc53289a3030f20925ac60a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-148.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac679346cf882845bd8fb8d8a4a871852c71a64a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145a1eed02283bf631b667d3650f91e6e3aa2179
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-150.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-152.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-152.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-154.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-154.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-159.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-159.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-16.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-16.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-16.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-161.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-161.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-162.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-162.obj
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@@ -0,0 +1,84 @@
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+mtllib original-165.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..451aac1d9f37386f9b99d053cb4bc94a0f8024d2
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-166.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
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+mtllib original-166.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4da91285d157912be60df9fd86511775c43bf3
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-167.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
+# 167
+mtllib original-167.mtl
+o #ID847
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-168.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-168.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-168.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/Camera/102890/textured_objs/original-168.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d454797e5c0054b9bb0ea38e0a45b1619062b14
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-168.obj
@@ -0,0 +1,68 @@
+# SSTK version 0.8.0
+# 168
+mtllib original-168.mtl
+o #ID853
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f4cb574ed15c2f5c087a71aadf8fe6ae0cfc278
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-169.obj
@@ -0,0 +1,68 @@
+# SSTK version 0.8.0
+# 169
+mtllib original-169.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ece549266507cfcbfb852d0aaa79b842049e6a50
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-17.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6904ccfb78d5c26399a115070b81e9591da53c6
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-170.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.obj
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index 0000000000000000000000000000000000000000..caa3e4efc9acc3c32129624979ef58829632c3d0
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-171.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-172.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-172.mtl
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-172.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4877890cb00c8330003385d948df99ff60de8414
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-172.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c86eeb99bafcd9fac28e6f24a6baa0382c3e373d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-173.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ac24933c8ad6941992740eb481990f88ebe8c7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-174.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
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+mtllib original-174.mtl
+o #ID889
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..057227b0a84c1ba851830e2589289b5c4b6567dc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-175.obj
@@ -0,0 +1,60 @@
+# SSTK version 0.8.0
+# 175
+mtllib original-175.mtl
+o #ID895
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a10433b4542775c7c0d26cab6ede24db835a7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-176.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 176
+mtllib original-176.mtl
+o #ID901
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c4bdddd8dbce44a00ddd56914b2172fa671fe3a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-177.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 177
+mtllib original-177.mtl
+o #ID907
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127bccce372c27b113dcdd6db3ac432235a03caa
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-178.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 178
+mtllib original-178.mtl
+o #ID913
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b22028ee3dd0dea3de08724646132c3a0a5636
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-179.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
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+mtllib original-179.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c58c91b152324ce6a2bbb76aa9a58c319d99c8f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-18.obj
@@ -0,0 +1,213 @@
+# SSTK version 0.8.0
+# 18
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new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-180.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-180.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-180.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-180.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.mtl
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-181.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b25f5d97fb4ca1ac175fe55303fdc1029b431720
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-182.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e24702de59c0917d489a4dffe88c8e66423ccc8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-183.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48d4066823812258bb50da13dc7d9fbbbd5e5d6
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-184.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e79100183222cee0f9dec059a089292ccdd4160
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-185.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ee0e289a6507aa107cf80eb78557fd84b18c658
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-186.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..58294fbb4f729c1a2e30ed37772e087ba44c02c1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-187.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..846fdaeccbc95dfb5931d701eb394af90bb00f16
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-188.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..343b99f20a049787fa23eb91d5b59dad056add5f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-189.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81df1bdf113c72b1faff17a341ee5aa256f452af
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-190.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-190.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-190.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08898720e71b86a28a5d131ce752937f375a3c71
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-190.obj
@@ -0,0 +1,44 @@
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+mtllib original-190.mtl
+o #ID985
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..790cc53e4b4e672224e9b0a271d2853d5c4ebfcc
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-191.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
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+mtllib original-191.mtl
+o #ID991
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd3229410ce3a2fbc392354defa54b18fa49df50
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-192.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 192
+mtllib original-192.mtl
+o #ID997
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..133f32dc4b2024204fa8c1da1450279da8ee91fb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48e4b124dbb45a6220b759c4970f6f91890c0b6d
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-193.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 193
+mtllib original-193.mtl
+o #ID1003
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be3d252e14ff1d856847487ca763fc95b72ce7a2
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-194.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 194
+mtllib original-194.mtl
+o #ID1009
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..663b3f9b0a77779a0494f58516f6ffa5b47d7cca
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-195.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 195
+mtllib original-195.mtl
+o #ID1015
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30932c3e01e9a129eed53e005470e4fa2219cc84
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-196.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 196
+mtllib original-196.mtl
+o #ID1021
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5302b2f3eefb317b6222b41c2baec91c8403294c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85956c3f736fffebe46bef3aab8fff080559af67
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-197.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
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+mtllib original-197.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b231a551aade069b9ebf495a17dd139ea3ef3e6e
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-199.obj
@@ -0,0 +1,4711 @@
+# SSTK version 0.8.0
+# 199
+mtllib original-199.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eca8c934abdefdfe7b9d0d5922f8aece4baf7c34
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33f35760de9d7703e765a5f3d8e00f8eca0d77f8
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dcb460baa850eb309a6bdd09f2cf8296b9f85440
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-200.obj
@@ -0,0 +1,2588 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-201.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-201.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-201.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-201.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-201.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-202.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-202.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-202.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-202.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-203.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-203.mtl
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index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-203.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-203.obj
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index 0000000000000000000000000000000000000000..7c96ad29c48b693012f6ac00bad32fb09cc37c3c
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-207.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-207.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-207.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-207.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-212.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-212.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e6dc304cb3866708e9c4efa4d9de2c0b412df82
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-216.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23aa39e1fb4a81debfe108d5d4da4468c1bcebeb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-217.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42ad0fef088f4610562dcb061ee9d0879472a44b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e52f1ecc265c106ecdcdca2e7f164cfe3afaf705
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-218.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc58896c8d799edb5cdfe5392499ddde8107149
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-219.obj
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index 0000000000000000000000000000000000000000..e70ce1fae887681bde7c3e134f2f79073174987c
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-22.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-22.obj
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index 0000000000000000000000000000000000000000..8d67456c9036eeccb037dc5672bbcee19b0ca4e7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f83b56dd113859cc2b1eaede082092ab125ce458
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-220.obj
@@ -0,0 +1,891 @@
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f084aa9bc764b547b06eaa2a5537684b8c63962a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-221.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..554fc1eb750f49d32719c1cc436619d8732dde47
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-223.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-224.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-224.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-224.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-224.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d99dab155272aa868a436cbd2c7b820f55a2e79f
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-225.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-229.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-229.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-23.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-23.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4b125b14da90074e8b414cd7bc5c6e6ed64f9dd
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-23.obj
@@ -0,0 +1,651 @@
+# SSTK version 0.8.0
+# 23
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..edf9c280bc0c49c9b4804aac4ffa22a620455f36
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-233.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-233.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-234.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-234.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-234.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-234.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-234.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-235.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-235.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-235.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-236.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-236.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-236.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-237.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-237.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..edf9c280bc0c49c9b4804aac4ffa22a620455f36
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-237.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-237.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-237.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-239.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-239.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-24.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e70ce1fae887681bde7c3e134f2f79073174987c
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-24.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-240.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-240.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-242.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..782e51a209a780630747bd71d8f8e29de28e5225
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-242.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-243.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-243.mtl
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index 0000000000000000000000000000000000000000..5af3ec8ae33c6626e6f69894fed9cacc264f2873
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-243.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-243.obj
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index 0000000000000000000000000000000000000000..67a7071aa1d53e990b3420deec64c18841df6b7d
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-244.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-244.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-244.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564e14d37b14a6e75709052d76e9212d9c44e746
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-244.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c900ec42a60d0f5bdc0206402d47c4a8dd8d17bb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-248.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-249.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-249.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-249.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67dbb17e80b6b70d505abfb3b9f65f9ff47e1045
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-250.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-250.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-250.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..629df0a3241e8a61fc3ec51f7494b4fc7bf85578
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-251.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-251.mtl
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index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-251.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80b00e0020d760e632da7dac72ae23752284467a
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-251.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a881f335411c2c1736db5cd836e162d33e22610
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-252.obj
@@ -0,0 +1,1227 @@
+# SSTK version 0.8.0
+# 252
+mtllib original-252.mtl
+o group_39/ID1415#ID1415
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-254.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-254.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-254.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-254.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4675380338e87f48c6932c82b40756923f1cc1b4
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-254.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.mtl
@@ -0,0 +1,7 @@
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+d 1
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..208a0a97bec8339b6978586fc12ae3e3fb28043c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-255.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-256.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-256.mtl
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index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-256.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-256.obj
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index 0000000000000000000000000000000000000000..ebdb2c9e92dbb69e3639a463707ed60fe6f95f08
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-259.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-259.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-259.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-259.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-26.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-26.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a65ed07b20aaae11ae9722f9821b071c049c7fe
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-260.obj
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-269.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-269.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-269.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0601b2ed4f1e93da63ae676b6690696a452b85cb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-269.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-27.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-27.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f9e6a3832578f0fff7cc00cde0f57ac565757b6
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-270.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-271.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-271.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-271.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-271.obj
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index 0000000000000000000000000000000000000000..a576e0806dda526c8eb13bee17c93654a3f77cdb
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-271.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-272.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-272.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-272.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-272.obj
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index 0000000000000000000000000000000000000000..e6cf7addd730b7aced9848efbe3d1df019660fb1
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-272.obj
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
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+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-280.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-280.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-280.obj
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index 0000000000000000000000000000000000000000..3b41821a4af1f86b773ffdd347a4544b793c2f3e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-281.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-281.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-284.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-284.mtl
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index 0000000000000000000000000000000000000000..98c8ffd69f9d74bc07e6df8383b2f89954ba4af7
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-285.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-285.obj
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-290.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-290.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8171179cb38f48e39b4710a553fa366ca5bb2264
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-290.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-290.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-290.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82fa3c70c17f5acd001c2ea6893bcc8532dd9aee
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.mtl b/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42ad0fef088f4610562dcb061ee9d0879472a44b
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.mtl
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diff --git a/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.obj b/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8f55369c149edac881f589ef8c4d85ceb9eeb39
--- /dev/null
+++ b/data/PartNet-Mobility/Camera/102890/textured_objs/original-293.obj
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