diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-23.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f785f7198ed835e0746000520711d6109242cf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-23.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81103305c854ffa3abdf2c08f3e716ac7730a501
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-24.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
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+mtllib original-24.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2d0e3e4b7bff8c94cd547615174f7f548042462
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-25.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-26.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a86fc727b7a141898871d882552f1e3d5e908916
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-26.obj
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+# SSTK version 0.8.0
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+mtllib original-26.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cb10311403ca001ba834a243e740596527e24b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-27.obj
@@ -0,0 +1,52 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-28.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f37f17cbd46a0c5b945e5e67c51b8a1e0f214f8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..953ab654fd1976a4da4d3251b93813913aa6801c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1f907c5f71d634c717483d0badb806d02224608
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb893d07cd0b9e609bc1063b4454e7dcc259357
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27a18a3dd37a3bd389d9dca308645bf137c65492
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-31.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f627542e8635b88fadba7cf64d15166afe6ea8b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-32.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2d7849c02fd5416b4faadf2d68ddc7bb6f97ef6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-33.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72749d21b096c17e4f46eaf25d529aa3f17e0088
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-34.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 34
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..1758075794877c784b77383dcbae21bd7d920845
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-35.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..088be07c9ed3ed9f45ef498e3cd84df974c3a072
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-39.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-39.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/CoffeeMachine/103074/textured_objs/original-39.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..90d9e87b70c4e5a1a80052023a547ca326eb84d4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-39.obj
@@ -0,0 +1,6569 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87e609615d813c92e9813f2faa62bc619753686a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca486735500ae06135c1ac1d0d1bc135e3af86b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87b2aeefff639f5e301f2c5dfbd610bc56c0644b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc531a06bab8b3d56dc15bfe56ebe07559d417fe
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382757b6958b1344247a67b97b0f4758f70b0ecc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-43.obj
@@ -0,0 +1,4803 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-45.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4c27770cb7d16bb4ab4e90f8135d2de98c419ec
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-45.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3607fc9311e38f2239766bf8312f52eb1904fdb4
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb202650dee55b612b5883a34341e4a0b50fb28b
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2b1424d94590545cfa8335f69426e2d0bb65f8a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.mtl
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+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f015d19e425ff0dda7e8331004c56af24c43673b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c4d73f0e97e9098c72328b2605f53ab19be41d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6d9fb30c7121ba74ceb060078f68fdade23a741
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-6.obj
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+f 10//5 6//3 11//5
+f 6//3 10//5 5//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d307d8f078c2cc379664456e69d20732a50e282d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-7.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o #ID334
+v 0.094324 0.417138 0.496813
+v 0.133087 0.467507 0.496005
+v 0.094324 0.467507 0.496813
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+v 0.094324 0.517876 0.496813
+v 0.133087 0.517876 0.496005
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 2//1 5//1 3//1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-8.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-8.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/CoffeeMachine/103074/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca1c30c360650d066960da600892de2f3c850576
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-8.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o group_1/ID5#ID5
+v -0.002601 -0.376512 0.736743
+v -0.002914 -0.376512 0.542442
+v -0.002914 -0.376512 0.736099
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-9.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/CoffeeMachine/103074/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8df4a51e1e0539f82d909298b8e2600a255318a5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103074/textured_objs/original-9.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o group_2/ID14#ID14
+v 0.114044 -0.376512 0.736744
+v 0.113731 -0.376512 0.542443
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103075/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fef8aac3ef4a9559315d3510a3f74398fb5ec5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.4214, -0.518653, -0.800243], "max": [0.405552, 0.782329, 0.83067]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/images/texture_0.jpg b/data/PartNet-Mobility/CoffeeMachine/103075/images/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..aac07299946ec49b68b328df1f14d1998acf5e92
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eae33c9e0d6e16deb8361be99cfebef1d0a16011ff960f9171c2b6b18752bd8
+size 6118
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/meta.json b/data/PartNet-Mobility/CoffeeMachine/103075/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0aeb14d72ad505fadebfcc805fbffa8d49cd69a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "CoffeeMachine", "model_id": "9dc8a64b4d9f35503bf8540d2bdbdaf9", "version": "1", "anno_id": "3075", "time_in_sec": "25"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103075/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..375c82398b7fc554487ac91fb1bb795cba84eb20
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/mobility.urdf
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<robot name="partnet_9dc8a64b4d9f35503bf8540d2bdbdaf9">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-1">
+			<origin xyz="0.004383755385413957 -0.609074 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.004383755385413957 -0.609074 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="-0.004383755385413957 0.609074 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.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-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103075/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f435160debf978ccf2dd2abe84e177034663f4ea
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"hinge","name":"knob","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[-0.004383755385413957,0.609074,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":1,"parent":2,"joint":"junk","name":"container","parts":[{"id":2,"name":"container"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.052000000000000046,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/result.json b/data/PartNet-Mobility/CoffeeMachine/103075/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..626f495c61513dbbcc64c9abdcbc40f73ce5ad45
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-2"]}, {"text": "container", "name": "container", "id": 2, "objs": ["original-1"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-5", "original-6"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103075/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..80960658536bdc0fe430c3e9fe1947d1830b6df9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-2"]}, {"id": 2, "name": "container", "text": "container", "objs": ["original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103075/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c912bbc5578cdec3eeaf390ae327a5c6e305ab33
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge knob
+link_1 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2a03da98993a3a665a981ff29e69c11867fc46
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-1.obj
@@ -0,0 +1,4359 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group_3/mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6341cad7e019e7e7d4ddad06b78224a1a93deb0a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fd8f0da0647d448b616af3a62c72778ab67e3c7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-2.obj
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index 0000000000000000000000000000000000000000..abffa148cde2987879c0b36f23baf1b4918fdbf9
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..411a7e1025f0256524e437261a1517bf148b87e4
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103075/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a48cb7678cc82344409f72d05de8b84d288730
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103079/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a6b14d7f5900bcc22e4d8b63127024e35917eb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.509966, -0.606216, -0.661268], "max": [0.502208, 1.005247, 0.777283]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/meta.json b/data/PartNet-Mobility/CoffeeMachine/103079/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a5f39a64237e558613d51316cbde6679bf3e66
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "CoffeeMachine", "model_id": "a56d6e49-0026-47eb-851e-4944f7373ab1", "version": "1", "anno_id": "3079", "time_in_sec": "97"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103079/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2d722a5d60621c5369c24f50ba3990722c80d631
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/mobility.urdf
@@ -0,0 +1,983 @@
+<?xml version="1.0" ?>
+<robot name="partnet_a56d6e49-0026-47eb-851e-4944f7373ab1">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-4">
+			<origin xyz="0.006874629208149408 0.6528804946649603 -0.3248979116921621"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.006874629208149408 0.6528804946649603 -0.3248979116921621"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="-0.006874629208149408 -0.6528804946649603 0.3248979116921621"/>
+		<axis xyz="-0.408304812324806 -0.4032421979543236 -0.8189523246327415"/>
+		<child link="link_0"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-5">
+			<origin xyz="0.043046062544721014 0.6614014894994952 -0.3469860817193749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.043046062544721014 0.6614014894994952 -0.3469860817193749"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="-0.043046062544721014 -0.6614014894994952 0.3469860817193749"/>
+		<axis xyz="0.3135445203857849 -0.45706736923044716 -0.8323336192421918"/>
+		<child link="link_1"/>
+		<parent link="link_4"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-6">
+			<origin xyz="0.01217808115272621 0.6558496077318043 -0.42553079435365804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.01217808115272621 0.6558496077318043 -0.42553079435365804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="button-6">
+			<origin xyz="0.01217808115272621 0.6558496077318043 -0.42553079435365804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.01217808115272621 0.6558496077318043 -0.42553079435365804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.01217808115272621 0.6558496077318043 -0.42553079435365804"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<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-13.obj"/>
+			</geometry>
+		</collision>
+		<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-21.obj"/>
+			</geometry>
+		</collision>
+		<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-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-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<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-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-33.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-35.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.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-54.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-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.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-31.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-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-17.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-42.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-32.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_4"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103079/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce13feaddf8cd32b4f93d48f2688b9b3eda51bdf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[-0.006874629208149408,-0.6528804946649603,0.3248979116921621],"direction":[0.408304812324806,0.4032421979543236,0.8189523246327415]},"limit":{"a":0,"b":-0.005,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":4,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[-0.043046062544721014,-0.6614014894994952,0.3469860817193749],"direction":[0.3135445203857849,-0.45706736923044716,-0.8323336192421918]},"limit":{"a":0,"b":0.005,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":4,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[-0.01217808115272621,-0.6558496077318043,0.42553079435365804],"direction":[0.01738525440289824,-0.5444393716241481,-0.8386200114204581]},"limit":{"a":0,"b":0.005,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":4,"joint":"slider","name":"lid","parts":[{"id":7,"name":"lid"}],"jointData":{"axis":{"origin":[-0.0031982413359302312,0.14907281134034217,-0.2691135163113275],"direction":[-0.0057057348549990755,-0.8747709564433351,-0.48450306330608195]},"limit":{"a":0,"b":-0.02,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":2,"name":"button"},{"id":3,"name":"button"},{"id":8,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/result.json b/data/PartNet-Mobility/CoffeeMachine/103079/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ee44a090599841f76cbab23053c3054df212af
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 2, "objs": ["original-16"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-13"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-62"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-65"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-46", "original-47", "original-44"]}, {"text": "lid", "name": "lid", "id": 7, "objs": ["original-7", "original-67", "original-69", "original-70", "original-71", "original-72", "original-83", "original-75", "original-82", "original-81", "original-80", "original-79", "original-78", "original-77", "original-84", "original-2", "original-73", "original-68", "original-74", "original-85", "original-8", "original-20", "original-23"]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-21", "original-30", "original-36", "original-28", "original-64", "original-43", "original-52", "original-22", "original-26", "original-4", "original-3", "original-33", "original-9", "original-35", "original-49", "original-61", "original-39", "original-59", "original-5", "original-54", "original-27", "original-51", "original-55", "original-50", "original-6", "original-31", "original-37", "original-15", "original-56", "original-58", "original-11", "original-38", "original-34", "original-18", "original-25", "original-17", "original-12", "original-42", "original-24", "original-32", "original-53", "original-1", "original-10", "original-14", "original-19", "original-40", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103079/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7711fe75c8d3abb612a34b03a65a9ff0593bc6d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "button", "text": "button", "objs": ["original-16"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-13"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-62"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-65"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-46", "original-47", "original-44"]}, {"id": 7, "name": "lid", "text": "lid", "objs": ["original-7", "original-67", "original-69", "original-70", "original-71", "original-72", "original-83", "original-75", "original-82", "original-81", "original-80", "original-79", "original-78", "original-77", "original-84", "original-2", "original-73", "original-68", "original-74", "original-85", "original-8", "original-20", "original-23"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103079/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b61fe50ac560c63114566fd7a86c023e88709611
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/semantics.txt
@@ -0,0 +1,5 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider lid
+link_4 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..da1dfe745ebfc87c41c5f262a4233cbd22b1d1dd
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e5a10cdbf8e6625af1c8a96f4fd1e4fa7beb991
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-1.obj
@@ -0,0 +1,8554 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID272
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9aa4b13495540c45ac677d2ff7a3200c4dc185a4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71946654594b164290ff9145a5450c8916f15418
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a73ae16018d5f9f8e63a5a0ec2fd3990faca6d3f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca03b4933a1a2fc701bbb4f02f4203a04e7c8061
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35047aed51ebd4e23463fbd01090f650f3475c6c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..b0cd1a00572a48a82e14089cc279614f7cc7295d
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35047aed51ebd4e23463fbd01090f650f3475c6c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3a65ab384720c975042c27babbccbf80762a52
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e97f75faa9c36040f9d5d3588d4effc23d40bce
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbd84757f96e23f0dd953c8d9a579bb12e2d4cb0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-20.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-20.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f12975846b200320a03b87082c8b47302036c64e
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0e97f75faa9c36040f9d5d3588d4effc23d40bce
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28f121ea4524199ab40918097d15853936822dbb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a5080619b6af1e2a00f71ba1a5409ab59d3d343
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..801baaede53a82358ed3a0cf2f483fcdb6798ac1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-3.mtl
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index 0000000000000000000000000000000000000000..0e97f75faa9c36040f9d5d3588d4effc23d40bce
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..ead49ffe583adf5a60f97b387407316775e6febe
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-34.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-34.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55b8a208af804157032fded2a5b0e8cb1eccdfdf
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-35.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-35.mtl
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index 0000000000000000000000000000000000000000..5372eae85a13f59859ca986c53113179a69b349f
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-35.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-35.obj
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index 0000000000000000000000000000000000000000..560be7dd911a842187d6cbb17fca34193fbac421
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-36.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-36.mtl
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index 0000000000000000000000000000000000000000..da1dfe745ebfc87c41c5f262a4233cbd22b1d1dd
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-36.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-36.obj
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index 0000000000000000000000000000000000000000..9db87b9a096309a93ce61d27771223b7f82b04e4
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77b78943f80df420f511f61563991c4d2433060d
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..63295f634f0934ee0706c5439c744ddd8cf1cc38
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e638419fbf12f2299496d60f9f75a1d0600c6df
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5372eae85a13f59859ca986c53113179a69b349f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9fb5e6f18a3f0013090284d13e4979f2644478c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..db31425d6d711c596ccb0a04ae6406d361690864
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8b1418d58e467391c8496034f0137b4c6718e34
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-44.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c0db53b451e7864b4de676701eeb4069b700b4a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3671ff183e17deae0ae431112beabc1c0b219663
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-46.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-47.obj
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index 0000000000000000000000000000000000000000..533c41b8d25a8eba2b67fc3086e079d5cd793698
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..641aba1e1168e57a28d48cf25457d6f04e4fba9e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5caf40298faac14262c19ebfe4be40ba67c20a46
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6044754f72efb3613597189ad36f0875b7492c8
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.mtl
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08aa3770b342f0aa7d00b88d4309eb917b05bd07
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fb1ddc2e8669521affee9319252e1794da170da
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-52.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-52.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/CoffeeMachine/103079/textured_objs/original-52.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c00f2a920c1f96cf8617b13a3e0f1acca255759
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-52.obj
@@ -0,0 +1,975 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o #ID65
+v 0.120972 -0.332085 0.136749
+v 0.087644 -0.336295 0.129158
+v 0.088877 -0.332085 0.125046
+v 0.119248 -0.336295 0.140682
+v 0.119248 -0.336295 0.140682
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09669f9eedc86149a0166ccf5e43ff740a9f7a9e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71e5f146c9e6884a16ed6fbc78c707bdf8e7ce9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
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+Kd 0.11764705882352941 0.11764705882352941 0.11764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a5c0c14a7b02437794e2dd9297f12d8b7707eb82
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-55.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff42dcd493d113550d35d18a39d4c44355bd31b8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-56.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.mtl
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..01391f5ca6abd073a1935c1374b77a01a3d4efb8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-58.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-58.mtl
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index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-58.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fa3bedfacc7b0c146ab9895c8103086e21d2a18
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-59.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-59.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..517c533dc5d7e4bcc56e757615c40a689c36c51b
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6346fe831a2cd59ad3767a050a56bd9e500eb21
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-61.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcb7f55f631032bb5fab9fdff93ef2ce6ed6b668
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-61.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0454df32574eb92160c603d46e463bf26c6d567
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66b16a69ad0f3783d1d5fa72d99b8bf7a1bf29a9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-62.obj
@@ -0,0 +1,4729 @@
+# SSTK version 0.8.0
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+mtllib original-62.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcb7f55f631032bb5fab9fdff93ef2ce6ed6b668
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.40784313725490196 0.41568627450980394 0.403921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5008d51a469292e966f1c803fbfe3deea1279b82
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-64.obj
@@ -0,0 +1,4729 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0c97b23bfc71d4a3701d2c5ac762bd4f74c5b99
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.20392156862745098 0.20392156862745098 0.20392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59911b9b72243051f24bf040f12e4b46b695a270
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-65.obj
@@ -0,0 +1,4729 @@
+# SSTK version 0.8.0
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+mtllib original-65.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41e237c45a3617aa772761154e4afa5c052977bb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-67.obj
@@ -0,0 +1,1435 @@
+# SSTK version 0.8.0
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+mtllib original-67.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb2928c70a91ad7406e61859b60569a83396a51e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-68.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ee5096c80b98b0b5fe41c4041e61a42cbc7f9f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ae8c3d0b4e66ee97730b137465ab4e87de58d06
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c79f9b9628acacfd444775a22f62effc51346a34
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c840ac03b21d49f5c7a421509d6bb8886d1ac84
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-70.obj
@@ -0,0 +1,1329 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-71.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-71.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/CoffeeMachine/103079/textured_objs/original-71.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23042147e2c8e73b0fe9019cc8bdece4b953ac2c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a4afcbff0c67f5bb43c2515cabd3bba721a6f7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-72.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-73.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-73.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a94c308cc62f94cb8f6e9688721a7c9953ddb5e
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-75.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-75.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-75.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-75.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-77.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-77.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-77.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b55b869092c7976b1f6cd92f16eaab6118f4f2e4
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-78.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-78.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b24b659446df0e13b4c9281f64c648488c3b7500
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-79.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-79.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91e4effa05fb03ae9eaf8f6246e818635391eeae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a1e702a109a84537c891fb7b7d32ac07b9cc509
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-82.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-82.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b0659ae0d5b6ed516b6bf31a2ac45d352a457bb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-83.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-83.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d26b1dca55ad76351ff1d5414d2e30a339c6e5f1
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bee1704df4dd68e4456b450d6c62cf9d48a38ee6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-84.obj
@@ -0,0 +1,227 @@
+# SSTK version 0.8.0
+# 84
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-85.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-85.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-85.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-85.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-9.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103079/textured_objs/original-9.obj
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+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.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-30.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-41.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-64.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<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-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-65.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-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.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-45.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-49.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.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-77.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.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-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.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-31.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-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-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-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.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-73.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-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103080/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..493a8802cc75ef074bc280edeb6d3ab02fbe8b09
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"slider","name":"lid","parts":[{"id":2,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.052000000000000046,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,-1]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/result.json b/data/PartNet-Mobility/CoffeeMachine/103080/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d93b8f1489e00f249a028e6670a4c13b111bf5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 2, "objs": ["original-16", "original-13", "original-15"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-21", "original-53", "original-40", "original-42", "original-56", "original-55", "original-32", "original-43"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-30", "original-36", "original-41", "original-28", "original-64", "original-71", "original-52", "original-22", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-8", "original-9", "original-45", "original-35", "original-49", "original-61", "original-39", "original-59", "original-5", "original-77", "original-54", "original-63", "original-27", "original-51", "original-50", "original-6", "original-31", "original-37", "original-48", "original-76", "original-72", "original-62", "original-75", "original-23", "original-66", "original-58", "original-67", "original-69", "original-11", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-74", "original-25", "original-17", "original-73", "original-12", "original-79", "original-24", "original-20", "original-47", "original-7", "original-1", "original-78", "original-10", "original-14", "original-60", "original-19", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103080/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7013d5fd0d245384fac5649c1db48438414646d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "lid", "text": "lid", "objs": ["original-16", "original-13", "original-15"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-21", "original-53", "original-40", "original-42", "original-56", "original-55", "original-32", "original-43"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103080/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73e78b59839663f219f997c530dc09aa988bd845
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider lid
+link_1 slider button
+link_2 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0179dd676e40f1e92c9aa18637ec3b8df7700820
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7019607843137254 0.7019607843137254 0.6941176470588235 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cdb45cbbe75b04d666b65a67630f33364847005c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-1.obj
@@ -0,0 +1,4075 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID4
+v -0.043456 0.463124 0.697676
+v -0.033368 0.424523 0.689997
+v -0.043456 0.424523 0.697676
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+v -0.043715 0.465682 0.697291
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+v -0.026382 0.424523 0.682933
+v -0.026382 0.467708 0.682933
+v -0.033368 0.424523 0.689997
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+v -0.043456 0.424523 0.697676
+v -0.033674 0.422195 0.689648
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d642669c7ac3198c26ed002a1010848a871f8aff
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-10.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-12.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fac227370c7c3e791e0805ac96a0fdc9446688d5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f529c54bb62b6c7c200c77c28ed6ff5d1b3b7a8d
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df42bc49cf4ec5c88deefba949aacb8d2e98be42
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ns 30
+Kd 0.49411764705882355 0.24313725490196078 0.00392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29c32db44d231a272ac0547eb4e94389c6def5de
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-14.obj
@@ -0,0 +1,763 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61a415da9fc072244605d5e67190ee65d2d3b6b7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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+Kd 0.19215686274509805 0.19215686274509805 0.19215686274509805 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..392e6b0e7664f20f5bbdb913553e041ec1b97349
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fac227370c7c3e791e0805ac96a0fdc9446688d5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82eb3e6a89fbb031a673998f8cbcb557dcb40b3e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a644b782ab3653a8952980e8c762a52057add46a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
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+illum 3
+d 1
+Ns 30
+Kd 0.6 0.6 0.592156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fe84068d9cb52f0f9cff1f7fb6992ca384c96fb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a6edb2f214d394cf6e44927bc570bc86183dd3
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f5213d5bce15d794a5e9bdc9f0350f43977e7c6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..e458c227bc3c1f001b4ea6ab2841943f3a9ef3c0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-2.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-20.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-20.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fe5eeb4365fc0940526d1ac3852dcf67e52a641
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..718ead263eb4b4c6006a0a4cde9babd0d830b809
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0b6e6dccca1e4eb7fd69ecd037bf5691aa9acad
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-21.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-22.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-22.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-22.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-23.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-23.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-23.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-24.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-25.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-25.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-27.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-27.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-28.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52a33ab68e32617c8aa52ee8c816c3594c0e1323
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..e30768108fcc96f3d9918f81f67ca79bace84242
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-32.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..718ead263eb4b4c6006a0a4cde9babd0d830b809
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-32.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-32.obj
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index 0000000000000000000000000000000000000000..c00fd245c8feec04c0c6678a7a4cce0c4f83436b
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-37.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-38.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-38.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-40.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.mtl
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-42.obj
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index 0000000000000000000000000000000000000000..80d57c25c3280f21e4fb54135a0587aec9325786
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-43.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c6e3b2326a17e7762a6d8edb6a3fcc1afb224aa
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-44.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-44.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa6e139543b69902afef373f0abf3a56707796b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-45.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-45.mtl
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index 0000000000000000000000000000000000000000..1f5213d5bce15d794a5e9bdc9f0350f43977e7c6
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-45.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f0b99935032368b3e41e2af75a097cb4b6b9536
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b83797d6df8203fd7ef864a8237f153a24612a7c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.8 0.8 0.792156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e40b66c84fb1436e18bd5857e3c3fbec5c76d150
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-46.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o #ID290
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b83797d6df8203fd7ef864a8237f153a24612a7c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.8 0.8 0.792156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cda971f0c0161fba5802f6427e6fab5a6264ac6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-47.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o #ID296
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-48.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-48.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-50.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-50.obj
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index 0000000000000000000000000000000000000000..950e7fdd96f0033a54dffd4f1205d89301cafc7f
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-57.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-57.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-57.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-57.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-57.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-59.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-59.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-59.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-59.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aba6dd0057919773920dbb6d3238348c337c7e85
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.mtl
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..073139db50a608a2c44b59e717cdf8bba283b88d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-60.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-60.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbb5a688694f0d2d83a3dfa2895c1bc64abab0d
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d368a21adb5f100ffb81a188c7b6404c6cb299e8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-62.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-62.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-62.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-63.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-63.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-63.obj
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index 0000000000000000000000000000000000000000..6b09c82957bf73dc2912fa5b52ea9c5046e16499
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-64.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-64.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-64.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87cf4cfb9e6ec10cec15e5715939fe1edbdbb1b4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-64.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-65.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-65.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-65.obj
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index 0000000000000000000000000000000000000000..eb5141e35688c05b3fdbc49952e3cd9cb06731dc
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-66.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-66.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-66.obj
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index 0000000000000000000000000000000000000000..ad222bba0d5a8dc2ee151c0c09b5579964e7cc7b
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new file mode 100644
index 0000000000000000000000000000000000000000..c35e5b7d55858762bc823cbb1034aba840b9d60c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-67.obj
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index 0000000000000000000000000000000000000000..7f21cc2a19870f00ef9f4b80916e81d51aa0dc65
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-68.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-68.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..381286373fc511250817bc73af533f3b40f6985b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-68.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-69.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..b83797d6df8203fd7ef864a8237f153a24612a7c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-73.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-73.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-73.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.mtl
new file mode 100644
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+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46a38477f135fe7be8967089dc3b1a1972bf989c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-74.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-75.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-75.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-75.obj
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index 0000000000000000000000000000000000000000..fb1654cc1471aefb655ab879b3408f8927212039
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-75.obj
@@ -0,0 +1,28 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-76.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-76.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-76.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-77.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc63bc94a8b773f7fe3b66c321ae36106f3d22d9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-77.obj
@@ -0,0 +1,28 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-78.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-78.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52a33ab68e32617c8aa52ee8c816c3594c0e1323
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Kd 0.49411764705882355 0.24313725490196078 0.00392156862745098 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7df2af2b07815001aea885ad52fc0511cea1f088
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-8.obj
@@ -0,0 +1,2748 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..415c06c92630acc26e398b38192d8aef123d1b99
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab55c7164f2760d48f96d5f3fc2c2ce5c8b722ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..aba6dd0057919773920dbb6d3238348c337c7e85
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3011215296e45882718060cc850acd75e4d1e21b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103080/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103082/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ee065379f1008b51f920135dce25e50cb6d1bd5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.576922, -0.495992, -0.752408], "max": [0.594521, 0.573957, 0.993665]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/meta.json b/data/PartNet-Mobility/CoffeeMachine/103082/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da84695eb10a3e2906a3e78493e8ccda6fd7c6bf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "CoffeeMachine", "model_id": "ab805048-df62-4839-a8ec-b738524c9d4e", "version": "1", "anno_id": "3082", "time_in_sec": "119"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103082/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d48af824408ab3ece1825bd8b17ded3d42dd2c32
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/mobility.urdf
@@ -0,0 +1,1459 @@
+<?xml version="1.0" ?>
+<robot name="partnet_ab805048-df62-4839-a8ec-b738524c9d4e">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="knob-4">
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-4">
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-4">
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.06164398327309132 0.035238453718394895 0.26564659144259306"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.06164398327309132 -0.035238453718394895 -0.26564659144259306"/>
+		<axis xyz="0.9741165716831959 2.7066081337638073e-07 0.22604624476443796"/>
+		<child link="link_0"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103082/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c46507ceff9e973d717d3d1225cf669d393de79
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":2,"joint":"junk","name":"container","parts":[{"id":2,"name":"container"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.07600000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"hinge","name":"knob","parts":[{"id":4,"name":"knob"}],"jointData":{"axis":{"origin":[0.06164398327309132,-0.035238453718394895,-0.26564659144259306],"direction":[0.9741165716831959,2.7066081337638073e-7,0.22604624476443796]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":1,"name":"lid"},{"id":5,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/result.json b/data/PartNet-Mobility/CoffeeMachine/103082/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c91c023aafe665fd160cce8aa300b5ecf0d2f0b7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "lid", "name": "lid", "id": 1, "objs": ["original-2", "original-4", "original-5", "original-17", "original-13", "original-12", "original-11", "original-9", "original-10", "original-15", "original-16", "original-14", "original-8", "original-3", "original-20", "original-21", "original-25", "original-24", "original-18", "original-1", "original-22", "original-23", "original-19"]}, {"text": "container", "name": "container", "id": 2, "objs": ["original-6", "original-7"]}, {"text": "knob", "name": "knob", "id": 4, "objs": ["original-123", "original-121", "original-124"]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-29", "original-103", "original-100", "original-30", "original-36", "original-119", "original-41", "original-28", "original-96", "original-64", "original-43", "original-71", "original-52", "original-83", "original-117", "original-110", "original-107", "original-104", "original-65", "original-33", "original-44", "original-112", "original-106", "original-86", "original-109", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-59", "original-77", "original-114", "original-54", "original-63", "original-27", "original-87", "original-51", "original-55", "original-113", "original-50", "original-111", "original-31", "original-37", "original-48", "original-116", "original-85", "original-122", "original-56", "original-76", "original-108", "original-72", "original-99", "original-62", "original-75", "original-66", "original-58", "original-98", "original-67", "original-69", "original-38", "original-68", "original-80", "original-34", "original-70", "original-74", "original-118", "original-91", "original-73", "original-92", "original-42", "original-79", "original-102", "original-88", "original-115", "original-32", "original-47", "original-95", "original-53", "original-105", "original-101", "original-81", "original-84", "original-94", "original-78", "original-97", "original-89", "original-82", "original-60", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103082/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..d383353a08093e9952864bbe4a0cfe4724c3b7c2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "lid", "text": "lid", "objs": ["original-2", "original-4", "original-5", "original-17", "original-13", "original-12", "original-11", "original-9", "original-10", "original-15", "original-16", "original-14", "original-8", "original-3", "original-20", "original-21", "original-25", "original-24", "original-18", "original-1", "original-22", "original-23", "original-19"]}, {"id": 2, "name": "container", "text": "container", "objs": ["original-6", "original-7"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-123", "original-121", "original-124"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103082/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c912bbc5578cdec3eeaf390ae327a5c6e305ab33
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/semantics.txt
@@ -0,0 +1,2 @@
+link_0 hinge knob
+link_1 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abf556c6b41b54c408b59ce8dbdedc25b78685fd
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-1.obj
@@ -0,0 +1,1691 @@
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+# 1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.obj
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index 0000000000000000000000000000000000000000..a4b06a6bdfcdb8abf0e598b8cfaf1d121e8438e2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-100.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-100.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-100.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-101.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-101.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05afa5d6f22d6a175649ee440d17527a9f0590cc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-102.obj
@@ -0,0 +1,1163 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-103.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-103.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e62f927e38c7e0562570ab5218fe89de8c7719d6
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf2cc6b49ccb9e4aa982ac10dc65918aa80713ba
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-104.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21c34390fee05b5ecb5d12f6c32ce502b305e8d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-105.obj
@@ -0,0 +1,365 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-106.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-106.mtl
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index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-106.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-106.obj
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index 0000000000000000000000000000000000000000..8b2b659d5983a099705da3733f98e8c00e7cf641
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-107.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-107.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-108.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-108.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-108.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-108.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-111.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-111.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-111.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-111.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-116.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-116.obj
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index 0000000000000000000000000000000000000000..73474b6a9ce5dd4a7c6c33b58c4a189be8be0d6b
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-119.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-119.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-119.obj
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index 0000000000000000000000000000000000000000..89a936b8619da1a4b5f2f1f25a734b6e5ce4b2b2
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..754c09965bfa80b064f3ebe8fbf6c48bc9a3af95
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..50a4fa507ab841dedda340cb11fd52984f18bbc3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-121.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-124.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-124.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-124.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-124.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-124.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-14.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-15.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..30641ddf75eba758649d8569ec9babd6cb5d7585
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+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-15.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..dcc997cf8fc8350db20d54a57ae7d443f4f09fec
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cb4cc36ee4bc6335d2187168e68c9c6f153f879
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18ef4de3fdb204a92bd38f69387ef142a2fcbf83
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-22.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-22.mtl
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index 0000000000000000000000000000000000000000..964082b9f635218fb8a6d07cbfaee1055c90c4d1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..409b7a46e8b29c7126924aad2ea9fdd01307ccaf
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-23.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..964082b9f635218fb8a6d07cbfaee1055c90c4d1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-23.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d25a5f97aca90a37dec37a36050e4eca7bf7bb3
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ac5f8873bf9d30e65ec17459ce4f38604de9158
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3eeba8b55f9527c47f34d4fb721a37e1615947
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f87a4a22507aff67ac0e5e3b775f92cc4428b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-3.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/CoffeeMachine/103082/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a355632779b45015c373a03b4080499d6c8ba7ab
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4c26c4f4f7e81a12a5c4f45d28f60d1510b1265
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cfdbdfdec588e586d68dd0b3001436c7f5620d9
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-32.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-32.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf991691ae1668585f795995d4ca202f53fa93c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-53.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-54.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5a11f975cac2b10694ce7f0d2b0a5173d8f77988
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.788235294117647 0.788235294117647 0.788235294117647 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecb204a3c1cc0ae33bf5e5f67c1d72717afc9159
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-60.obj
@@ -0,0 +1,71 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-66.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-66.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-67.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-68.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-68.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-69.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-69.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-71.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-72.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-72.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-74.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-74.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-80.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-81.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-82.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-82.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-82.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-83.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-83.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-83.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-83.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-83.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-84.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-84.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-84.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-84.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-86.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-86.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-87.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-87.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-88.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-88.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-88.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-88.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-89.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-89.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-89.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-89.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-95.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-95.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-96.obj b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-96.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-98.mtl b/data/PartNet-Mobility/CoffeeMachine/103082/textured_objs/original-98.mtl
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new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103084/bounding_box.json
new file mode 100644
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/meta.json b/data/PartNet-Mobility/CoffeeMachine/103084/meta.json
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103084/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc607aa54992fa6a454a793328fed3aa98e0a874
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/mobility.urdf
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+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
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+		</collision>
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+		</visual>
+		<collision>
+			<origin xyz="0.381311 -0.393869 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="continuous">
+		<origin xyz="-0.381311 0.393869 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-10">
+			<origin xyz="-0.01054775300001123 0.6272989999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.01054775300001123 0.6272989999999999 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.01054775300001123 -0.6272989999999999 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_7"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_8">
+		<visual name="knob-11">
+			<origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-11">
+			<origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.0077444446342140654 -0.4262700471325932 -0.2918568499357043"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="continuous">
+		<origin xyz="-0.0077444446342140654 0.4262700471325932 0.2918568499357043"/>
+		<axis xyz="0.9998416265125973 0.017788167077507473 0.0005504585969425879"/>
+		<child link="link_8"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_9">
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-12">
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.011294228617967743 0 -0.3227872819839025"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="revolute">
+		<origin xyz="0.011294228617967743 0 0.3227872819839025"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_9"/>
+		<parent link="link_11"/>
+		<limit lower="-2.249380339970292" upper="2.3122121930420874"/>
+	</joint>
+	<link name="link_10">
+		<visual name="knob-13">
+			<origin xyz="-0.33871679151377665 0 -0.35802077252548015"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-13">
+			<origin xyz="-0.33871679151377665 0 -0.35802077252548015"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33871679151377665 0 -0.35802077252548015"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.33871679151377665 0 -0.35802077252548015"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.33871679151377665 0 0.35802077252548015"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_10"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_11">
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-14">
+			<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-26.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-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-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.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-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>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103084/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcce6b38641c9b5b01376cedc741e0778b9be4cf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"slider","name":"button","parts":[{"id":2,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0.42339499999999997,0.393869,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":2,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0.296109,0.393869,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":3,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[-0.24039811236784744,0.47654049463343284,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":4,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[-0.24039818323591705,0.32336625362239685,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":5,"parent":11,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[-0.381311,0.393869,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":7,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":10,"name":"button"}],"jointData":{"axis":{"origin":[0.01054775300001123,-0.6272989999999999,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.03,"noLimit":true}}},{"id":8,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":11,"name":"knob"}],"jointData":{"axis":{"origin":[-0.0077444446342140654,0.4262700471325932,0.2918568499357043],"direction":[0.9998416265125973,0.017788167077507473,0.0005504585969425879]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":9,"parent":11,"joint":"hinge","name":"portafilter","parts":[{"id":12,"name":"container"}],"jointData":{"axis":{"origin":[0.011294228617967743,0,0.3227872819839025],"direction":[0,1,0]},"limit":{"a":128.88,"b":-132.48,"noLimit":false}}},{"id":10,"parent":11,"joint":"hinge","name":"lever","parts":[{"id":13,"name":"knob"}],"jointData":{"axis":{"origin":[0.33871679151377665,0,0.35802077252548015],"direction":[0,1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":14,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/result.json b/data/PartNet-Mobility/CoffeeMachine/103084/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fc6a5883e8a02517cc14af33828e7c27da368f4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 2, "objs": ["original-23"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-29"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-27"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-31"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-30"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-32"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-28"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-2"]}, {"text": "knob", "name": "knob", "id": 11, "objs": ["original-36", "original-37"]}, {"text": "container", "name": "container", "id": 12, "objs": ["original-19", "original-21", "original-15", "original-13", "original-41", "original-42", "original-40", "original-39", "original-18", "original-16", "original-20", "original-12", "original-44", "original-43"]}, {"text": "knob", "name": "knob", "id": 13, "objs": ["original-47", "original-46"]}, {"text": "base_body", "name": "base_body", "id": 14, "objs": ["original-26", "original-4", "original-3", "original-33", "original-8", "original-9", "original-5", "original-34", "original-25", "original-24", "original-7", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103084/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a10131144038687a9db141b8697f8e0ecbee7a6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "button", "text": "button", "objs": ["original-23"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-29"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-27"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-31"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-30"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-32"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-28"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-2"]}, {"id": 11, "name": "switch", "text": "switch", "objs": ["original-36", "original-37"]}, {"id": 12, "name": "container", "text": "container", "objs": ["original-19", "original-21", "original-15", "original-13", "original-41", "original-42", "original-40", "original-39", "original-18", "original-16", "original-20", "original-12", "original-44", "original-43"]}, {"id": 13, "name": "switch", "text": "switch", "objs": ["original-47", "original-46"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103084/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6169f13fbc455deca4eafb5fb90b85efc71d6e39
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/semantics.txt
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+link_0 slider button
+link_1 hinge knob
+link_2 hinge knob
+link_3 hinge knob
+link_4 hinge knob
+link_5 slider button
+link_6 hinge knob
+link_7 hinge knob
+link_8 hinge knob
+link_9 hinge portafilter
+link_10 hinge lever
+link_11 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.mtl
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+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.jpg
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d1f592e271297db65fe9b97544ceee33e7dbe26
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-10.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b9c45a83d23cda730f1d41556d8a0eba73c68278
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..055fb0b8c93f9431e5ed4efba3a6340068005619
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-13.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5913cc61b8912ab7bb14484c9707f484430b7973
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.mtl
@@ -0,0 +1,14 @@
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a91fdf24b14cf1fb58890d807e86993e05758d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5913cc61b8912ab7bb14484c9707f484430b7973
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-15.obj
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index 0000000000000000000000000000000000000000..c15f83c06d221d5e5a4eeb1e6193662112a5fb26
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-19.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-24.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-3.mtl
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index 0000000000000000000000000000000000000000..b9c45a83d23cda730f1d41556d8a0eba73c68278
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..3f81ccb970983a8f6b68aa161942f27254f467be
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-33.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-33.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-34.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-34.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-36.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-36.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2830733599452655e909715c967961ae5749542
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-37.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-37.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d111d67464de659cd5b1df39beaa88a55c9dff4
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new file mode 100644
index 0000000000000000000000000000000000000000..35a3626c9478520796963a6a5cd5848a6fd04600
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-40.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-41.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-41.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-42.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35a3626c9478520796963a6a5cd5848a6fd04600
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e469f78270b059c245f81610848ff7857c462442
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-43.mtl
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index 0000000000000000000000000000000000000000..07b11e5d1854685f231c0ffb78c63c69ed6c1126
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-43.obj
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index 0000000000000000000000000000000000000000..79c2c920fb850db8d179d65256de31f3bf16e83d
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c55b05cb640339479ff78059e13a8666dfe83d
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103084/textured_objs/original-8.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..6368e0b87258cbc8e20e7806737397a1b43207b9
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103086/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd4dda14c43d32587f6088c608efcf76441019e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/bounding_box.json
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/meta.json b/data/PartNet-Mobility/CoffeeMachine/103086/meta.json
new file mode 100644
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103086/mobility.urdf
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index 0000000000000000000000000000000000000000..b72f20279e75d08e55d74f09b0522939a81e7bdb
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0" upper="0.040000000000000036"/>
+	</joint>
+	<link name="link_1">
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.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-28.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.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_0"/>
+		<limit lower="0" upper="0.040000000000000036"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-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-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-16.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-15.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-17.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-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103086/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6599caa2da513d89290fb966b0e0caeaee9bde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "container", "parts": [{"id": 1, "name": "container", "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": 1, "parent": 0, "joint": "slider", "name": "lid", "parts": [{"id": 2, "name": "lid", "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": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/result.json b/data/PartNet-Mobility/CoffeeMachine/103086/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0ea7eea602071b5ade5985b6474de93b833adcc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "container", "name": "container", "id": 1, "objs": ["original-13", "original-33", "original-32", "original-21", "original-4", "original-5"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-29", "original-11", "original-31", "original-22", "original-27", "original-28", "original-30"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-3", "original-2", "original-16", "original-8", "original-9", "original-15", "original-18", "original-25", "original-17", "original-12", "original-24", "original-20", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103086/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9c62438f27976d3e95f78ca561ce656ac844f5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "container", "text": "container", "objs": ["original-13", "original-33", "original-32", "original-21", "original-4", "original-5"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-29", "original-11", "original-31", "original-22", "original-27", "original-28", "original-30"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103086/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11dc808616561a0a3f9226f1846ff9621db9615a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider container
+link_1 slider lid
+link_2 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72df0a09b2845af1b5e6f7f494ddf5a7afd52e7f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-1.obj
@@ -0,0 +1,84 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID202
+v -0.235861 0.046639 0.016534
+v -0.232295 0.046639 -0.058988
+v -0.237050 0.046639 -0.021367
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+v -0.197649 0.046639 0.122692
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+v -0.174409 0.046639 0.152656
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+v -0.115407 0.046639 0.199931
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+v 0.068087 0.046639 0.223122
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+v 0.103766 0.046639 0.210279
+v 0.124075 0.046639 -0.219871
+v 0.136996 0.046639 0.192013
+v 0.155437 0.046639 -0.198556
+v 0.166960 0.046639 0.168773
+v 0.183078 0.046639 -0.172596
+v 0.192920 0.046639 0.141132
+v 0.206317 0.046639 -0.142632
+v 0.214235 0.046639 0.109771
+v 0.224583 0.046639 -0.109402
+v 0.230383 0.046639 0.075461
+v 0.237426 0.046639 -0.073723
+v 0.240964 0.046639 0.039047
+v 0.244530 0.046639 -0.036475
+v 0.245719 0.046639 0.001426
+vn 0 1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//1 4//1 5//1
+f 5//1 4//1 6//1
+f 5//1 6//1 7//1
+f 7//1 6//1 8//1
+f 7//1 8//1 9//1
+f 9//1 8//1 10//1
+f 9//1 10//1 11//1
+f 11//1 10//1 12//1
+f 11//1 12//1 13//1
+f 13//1 12//1 14//1
+f 13//1 14//1 15//1
+f 15//1 14//1 16//1
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+f 17//1 16//1 18//1
+f 17//1 18//1 19//1
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+f 23//1 24//1 25//1
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+f 35//1 36//1 37//1
+f 37//1 36//1 38//1
+f 37//1 38//1 39//1
+f 39//1 38//1 40//1
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80937d19e81a82edb774ea5e780230a2304e8e0f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-10.obj
@@ -0,0 +1,2282 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o instance_3/Component_1/ID17#ID17
+v -0.302816 -0.708029 0.340713
+v -0.307622 -0.737565 0.344818
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aad2ab0e3f8df128c5ea17661c871a5edd83297a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48bdd0748c2ace21e28119a4eb098763969993d7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-12.obj
@@ -0,0 +1,6672 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cd1770204d85dc0815f7570d275dd33500b47dc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-13.obj
@@ -0,0 +1,1365 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bd9aed836c169134f09d2306d56a866dcf843d6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-15.obj
@@ -0,0 +1,2282 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o group_5/ID48#ID48
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b971d29679edb714c05c9aaf0a244182601ae2b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-16.obj
@@ -0,0 +1,2282 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d91ad6d1ce057e0a44edcafc99f2a3558bc2e5f2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-17.obj
@@ -0,0 +1,1778 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61f5cbaf400bfbcde3c5502d8fe6667aadfedeb2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-18.obj
@@ -0,0 +1,385 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3600dde16a930cd0f6fea7f40c3f67f7895b5255
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-21.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-22.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23a01141f2a3519cf9b0384e9a571df69ff96dd3
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a989c9de1bff4e65b454e5dbf212af1def86c43
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-25.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/CoffeeMachine/103086/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7bf0680065f0ca1ad0edd662de8e566ff4af9a9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd968e05844d850058415a896ccff1ff040decaf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-27.obj
@@ -0,0 +1,5304 @@
+# SSTK version 0.8.0
+# 27
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900d68f2911d3efd92509642163b42db3e257e1c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-28.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea5d41e34e977ab4436245af1eed173d237c768d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-29.obj
@@ -0,0 +1,284 @@
+# SSTK version 0.8.0
+# 29
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-3.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-3.obj
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index 0000000000000000000000000000000000000000..656a46e0f3475c9735477e236dcf26824be400f9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..1e70bc2c9bc0a405ae2bcb4155fe2720815ee4cf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49380db3e00ca7558e65cb1fcce87e2a2fc34927
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-31.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3ceec2c6cabc769322c3a9cd0301b9233e652a3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-32.obj
@@ -0,0 +1,6156 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d1e7c97287c86908beebfba47fd838cc32ba0a8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-33.obj
@@ -0,0 +1,6156 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-4.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-5.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c2647293f7e0d224e3d4b987f6cd92c3a8d7fad
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..664bf8086f982421d92585876168de1f67ce604c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-8.obj
@@ -0,0 +1,2282 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35704dd7020f39f9a62cce76653fe8ae697d8c14
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103086/textured_objs/original-9.obj
@@ -0,0 +1,2282 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o instance_2/Component_1/ID7#ID7
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+		<collision>
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+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
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+		</collision>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+			<geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-151.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-155.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/CoffeeMachine/103087/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103087/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..482bb93e46572727dccb5292e2fbdaf7dce72ebd
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "slider", "name": "container", "parts": [{"id": 2, "name": "container", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.19200000000000017, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 0, "joint": "slider", "name": "lid", "parts": [{"id": 3, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.1160000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 4, "name": "knob", "children": []}], "jointData": {"axis": {"origin": [0.0024913230577683306, -0.684106388159023, 0.14411005105567673], "direction": [-0.00029551496255863575, 0.20612950488730974, 0.9785246751542955]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 3, "parent": -1, "joint": "junk", "name": "outlier", "parts": [{"id": 5, "name": "outlier", "children": []}], "jointData": {}}, {"id": 4, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 6, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/result.json b/data/PartNet-Mobility/CoffeeMachine/103087/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1410494364031d262963e8c8490b72b331e85812
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "container", "name": "container", "id": 2, "objs": ["original-1", "original-190", "original-169", "original-191", "original-164", "original-170", "original-2", "original-43", "original-50", "original-44", "original-48", "original-74", "original-65", "original-61", "original-63", "original-64", "original-58", "original-52", "original-53", "original-59", "original-54", "original-55", "original-62", "original-56", "original-57", "original-60", "original-79", "original-76", "original-68", "original-70", "original-71", "original-75", "original-51", "original-69", "original-66", "original-67", "original-72", "original-49", "original-78", "original-77", "original-73"]}, {"text": "lid", "name": "lid", "id": 3, "objs": ["original-165", "original-185", "original-177", "original-175", "original-184", "original-186", "original-173", "original-188", "original-189", "original-183", "original-174", "original-171", "original-167", "original-168", "original-172", "original-163", "original-166", "original-182", "original-187", "original-178", "original-181", "original-179", "original-162"]}, {"text": "knob", "name": "knob", "id": 4, "objs": ["original-121", "original-82"]}, {"text": "outlier", "name": "outlier", "id": 5, "objs": ["original-176", "original-180"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-29", "original-103", "original-100", "original-21", "original-30", "original-152", "original-36", "original-126", "original-119", "original-41", "original-28", "original-124", "original-96", "original-134", "original-83", "original-22", "original-26", "original-117", "original-110", "original-153", "original-107", "original-160", "original-104", "original-4", "original-128", "original-33", "original-130", "original-139", "original-112", "original-106", "original-16", "original-86", "original-8", "original-140", "original-147", "original-109", "original-13", "original-9", "original-125", "original-35", "original-148", "original-138", "original-156", "original-93", "original-144", "original-39", "original-120", "original-5", "original-114", "original-150", "original-27", "original-159", "original-87", "original-113", "original-141", "original-111", "original-31", "original-15", "original-116", "original-85", "original-122", "original-135", "original-108", "original-99", "original-136", "original-127", "original-133", "original-23", "original-145", "original-98", "original-11", "original-131", "original-38", "original-146", "original-80", "original-34", "original-18", "original-118", "original-91", "original-25", "original-17", "original-12", "original-92", "original-142", "original-42", "original-102", "original-24", "original-20", "original-88", "original-115", "original-32", "original-47", "original-95", "original-7", "original-105", "original-101", "original-84", "original-94", "original-97", "original-157", "original-89", "original-10", "original-14", "original-129", "original-19", "original-90", "original-40", "original-143", "original-151", "original-46", "original-155"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103087/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8fb60793369fd576f35efcb92f6a46668e22d1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "container", "text": "container", "objs": ["original-1", "original-190", "original-169", "original-191", "original-164", "original-170", "original-2", "original-43", "original-50", "original-44", "original-48", "original-74", "original-65", "original-61", "original-63", "original-64", "original-58", "original-52", "original-53", "original-59", "original-54", "original-55", "original-62", "original-56", "original-57", "original-60", "original-79", "original-76", "original-68", "original-70", "original-71", "original-75", "original-51", "original-69", "original-66", "original-67", "original-72", "original-49", "original-78", "original-77", "original-73"]}, {"id": 3, "name": "lid", "text": "lid", "objs": ["original-165", "original-185", "original-177", "original-175", "original-184", "original-186", "original-173", "original-188", "original-189", "original-183", "original-174", "original-171", "original-167", "original-168", "original-172", "original-163", "original-166", "original-182", "original-187", "original-178", "original-181", "original-179", "original-162"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-121", "original-82"]}, {"id": 5, "name": "outlier", "text": "outlier", "objs": ["original-176", "original-180"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103087/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e655d58d360caab51213c3120064fc1d697f8d66
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider container
+link_1 slider lid
+link_2 hinge knob
+link_3 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccabf15b7e4c7ff519d16aa9c32532ba1ce8c2c5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 4
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba6741092f8dc530fa8530df42f09ac48bfa61e4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-1.obj
@@ -0,0 +1,7284 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d78e4c17af144db9012830f6224cb40cdf5b1c6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6666666666666666 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf3f2c0f2f7191faa1dd05a35a5afb6114ab438
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-10.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-100.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-100.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-100.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-100.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-101.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-102.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-102.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-102.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-103.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-103.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-103.obj
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index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-104.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-104.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-104.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-105.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-105.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-105.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-106.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-107.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-108.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-108.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-108.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-109.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-11.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-118.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-118.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-118.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-119.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-12.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-120.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-120.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-120.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-121.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-122.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-122.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-122.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-124.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-124.mtl
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+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-124.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8033e01571eaefbfb03a022c11f45b4bada5791
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..734e87f55429c18084141cd78bbeb6ccfcf8a19e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-131.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..106334af389e79512ad3f9315831fa0d4d34d25e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0d112e2f6af60d5fa4c42bd21889e0957a6ebc0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-133.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-134.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-134.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..106334af389e79512ad3f9315831fa0d4d34d25e
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-134.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-134.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77d0abdf5524d88b4c3d94e3b265f535c6131405
--- /dev/null
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-138.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-138.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-139.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-139.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-139.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-139.obj
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index 0000000000000000000000000000000000000000..e2ca5e9eaf9be441eb72461d9ddb8b7e6f39ca99
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index 0000000000000000000000000000000000000000..106334af389e79512ad3f9315831fa0d4d34d25e
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-14.obj
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index 0000000000000000000000000000000000000000..b52f2e65a58dd4523a7837eaf2679f2968b2a453
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-143.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-143.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-143.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-143.obj
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index 0000000000000000000000000000000000000000..a2bca7ca5e6bf482c9e87b4a6844c9a098d8533a
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-147.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-147.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-147.obj
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index 0000000000000000000000000000000000000000..2d07418a57757845e8b8a0faf113212cd5bdc48b
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-148.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-148.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-150.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-150.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..106334af389e79512ad3f9315831fa0d4d34d25e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ec9c4fb82b411c3c1e26a2c7f07cceab86217c3e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-151.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-152.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-152.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-153.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-153.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..106334af389e79512ad3f9315831fa0d4d34d25e
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-153.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc471afbcdd64e0e98a87e4172a6c1f03e1006eb
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-162.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-162.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-163.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-163.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-163.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-163.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-165.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-165.mtl
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index 0000000000000000000000000000000000000000..9d9859f970992d2679a8da5d438ed0abfb5814ac
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-165.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-165.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8452994d2f49bec26de249c591fc938dd270369f
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-166.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-166.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5fd2d40c945ef5a4c96de00b63d811e6dda7b64b
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-166.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d59cae01a2f24916c54a0a3822d87330dd32b17c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-167.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-167.mtl
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index 0000000000000000000000000000000000000000..ccabf15b7e4c7ff519d16aa9c32532ba1ce8c2c5
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-167.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-167.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2d07418a57757845e8b8a0faf113212cd5bdc48b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a48ae8a30f4f88f333bdea2844e9deda0ca0474
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-170.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-170.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6332d8bfe3ad33cbc799971ebd983d11a77db716
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-170.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-170.obj
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index 0000000000000000000000000000000000000000..8f8fe9163de28a356847365ede90cd16e0771be5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-170.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-172.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-172.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-18.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-18.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-18.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-180.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-180.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-180.obj
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..35a3626c9478520796963a6a5cd5848a6fd04600
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new file mode 100644
index 0000000000000000000000000000000000000000..f3550227b7d0e5232a0d9721444fa4139b047dfb
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-184.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-184.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35a3626c9478520796963a6a5cd5848a6fd04600
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-184.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..406ea56c1ff06bd008f125ce87866a77051de2e4
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-187.mtl b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-187.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35a3626c9478520796963a6a5cd5848a6fd04600
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-187.obj b/data/PartNet-Mobility/CoffeeMachine/103087/textured_objs/original-187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34db7212ad21aecb375eefdba697310faa358f41
--- /dev/null
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