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diff --git a/data/PartNet-Mobility/Keyboard/12727/point_sample/ply-10000.ply b/data/PartNet-Mobility/Keyboard/12727/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..facfd9bf947d7c9fb5d23366fd917214f040cd91
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/point_sample/ply-10000.ply
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diff --git a/data/PartNet-Mobility/Keyboard/12727/point_sample/pts-10000.txt b/data/PartNet-Mobility/Keyboard/12727/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca659e752bb1b47096cd0780bf9380ab27969dad
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..64cab31bcf282c361844aec19d7f7f55bd4618d0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ba3a1823b37404c9075b1d0e77e70e1a3a192652
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-label-10000.ply
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new file mode 100644
index 0000000000000000000000000000000000000000..117305066e3b327cf128f6a2416cb10389f1a753
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diff --git a/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4d0a90bdb64decbf82ef9e06c5c0df315387689
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12727/result.json b/data/PartNet-Mobility/Keyboard/12727/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a31c7f986a5563114f474beb3bdee8448466e5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/result.json
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diff --git a/data/PartNet-Mobility/Keyboard/12727/result_after_merging.json b/data/PartNet-Mobility/Keyboard/12727/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..de60e93f85a38e9d8a9a06d74c04669277c45ed9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/result_after_merging.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12727/semantics.txt b/data/PartNet-Mobility/Keyboard/12727/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aaac4e5e3c25d28c9870da6825eb193d65e32ea3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/semantics.txt
@@ -0,0 +1,78 @@
+link_0 free keyboard_base
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
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+link_17 slider key
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.mtl b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99ba08212868cd24e524edbe04014d4ae863d47f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.mtl
@@ -0,0 +1,15 @@
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+map_Kd ../images/texture_0.png
+
+newmtl material_1_0
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e1d9b82818a0b4bd47ff3fa423ce17807abd77
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-10.obj
@@ -0,0 +1,284 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-20.mtl b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0fca36545f55ffa65786b103b3180f4dc9c58ff
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-20.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-46.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-50.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-51.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-51.obj
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index 0000000000000000000000000000000000000000..b5bf298ad4a792bcc15b97daf2ab30901ec61ba9
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-52.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-60.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-60.obj
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index 0000000000000000000000000000000000000000..e0fca36545f55ffa65786b103b3180f4dc9c58ff
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-68.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73260eba0b102b244184eb0c89f9ab0d578377bc
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-7.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-7.obj
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index 0000000000000000000000000000000000000000..99ba08212868cd24e524edbe04014d4ae863d47f
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-8.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-8.obj
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index 0000000000000000000000000000000000000000..42de41dbff0de93f820f5bc90f3ecc979353d424
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.mtl b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..99ba08212868cd24e524edbe04014d4ae863d47f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.mtl
@@ -0,0 +1,15 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.obj b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5e2c46c27da40ddaf2e1b5d6c7d0320a8807ac3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12727/tree_hier.html b/data/PartNet-Mobility/Keyboard/12727/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..cbb00d34c312f76e54a3a40941e42997b00b9fef
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame Frame</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key Key</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key Key</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key Key</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key Key</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key Key</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key Key</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key Key</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key Key</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key Key</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key Key</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key Key</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key Key</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key Key</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key Key</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key Key</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key Key</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key Key</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key Key</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key Key</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key Key</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key Key</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key Key</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key Key</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key Key</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key Key</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key Key</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key Key</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key Key</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key Key</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key Key</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key Key</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key Key</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key Key</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key Key</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key Key</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key Key</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key Key</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key Key</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key Key</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key Key</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key Key</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key Key</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key Key</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key Key</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key Key</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key Key</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key Key</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key Key</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key Key</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key Key</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key Key</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key Key</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key Key</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key Key</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key Key</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key Key</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key Key</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key Key</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key Key</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key Key</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key Key</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key Key</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key Key</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key Key</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key Key</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key Key</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key Key</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key Key</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key Key</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key Key</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key Key</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key Key</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key Key</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key Key</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key Key</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key Key</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key Key</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12727/tree_hier_after_merging.html b/data/PartNet-Mobility/Keyboard/12727/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..3813a2cb31194efea65eb1d5dfd1bc3fa162490e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12727/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame frame</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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+		<child link="link_17"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_18">
+		<visual name="key-19">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_18"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_19">
+		<visual name="key-20">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_19"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_20">
+		<visual name="key-21">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_20"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_21">
+		<visual name="key-22">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_21"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-23">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_22"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-24">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_23"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-25">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_24"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-26">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_25"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-27">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_26" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_26"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-28">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_27" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_27"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-29">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_28" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_28"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-30">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_29" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_29"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_30">
+		<visual name="key-31">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_30" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_30"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_31">
+		<visual name="key-32">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_31" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_31"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_32">
+		<visual name="key-33">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_32" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_32"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_33">
+		<visual name="key-34">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_33" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_33"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_34">
+		<visual name="key-35">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_34" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_34"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_35">
+		<visual name="key-36">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_35"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_36">
+		<visual name="key-37">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_36"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_37">
+		<visual name="key-38">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_37"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_38">
+		<visual name="key-39">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_38"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-40">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_39" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_39"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-41">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_40" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_40"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_41">
+		<visual name="key-42">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_41" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_41"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_42">
+		<visual name="key-43">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_42" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_42"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_43">
+		<visual name="key-44">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_43" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_43"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_44">
+		<visual name="key-45">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_44" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_44"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_45">
+		<visual name="key-46">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_45" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_45"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_46">
+		<visual name="key-47">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_46" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_46"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_47">
+		<visual name="key-48">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_47" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_47"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-49">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_48" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_48"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-50">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_49" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_49"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-51">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_50" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_50"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_51">
+		<visual name="key-52">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_51" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_51"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_52">
+		<visual name="key-53">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_52" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_52"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_53">
+		<visual name="key-54">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_53" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_53"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_54">
+		<visual name="key-55">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_54" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_54"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_55">
+		<visual name="key-56">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_55" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_55"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_56">
+		<visual name="key-57">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_56" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_56"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_57">
+		<visual name="key-58">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_57" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_57"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_58">
+		<visual name="key-59">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_58" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_58"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_59">
+		<visual name="key-60">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_59" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_59"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-61">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_60" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_60"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_61">
+		<visual name="key-62">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_61" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_61"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_62">
+		<visual name="key-63">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_62" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_62"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_63">
+		<visual name="key-64">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_63" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_63"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_64">
+		<visual name="key-65">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_64" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_64"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_65">
+		<visual name="key-66">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_65" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_65"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_66">
+		<visual name="key-67">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_66" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_66"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_67">
+		<visual name="key-68">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_67" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_67"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_68">
+		<visual name="key-69">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_68" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_68"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_69">
+		<visual name="key-70">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_69" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_69"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_70">
+		<visual name="key-71">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_70" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_70"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_71">
+		<visual name="key-72">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_71" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_71"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_72">
+		<visual name="key-73">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_72" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_72"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_73">
+		<visual name="key-74">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_73" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_73"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_74">
+		<visual name="key-75">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_74" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_74"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_75">
+		<visual name="key-76">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_75" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_75"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_76">
+		<visual name="key-77">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_76" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_76"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_77">
+		<visual name="key-78">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_77" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_77"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_78">
+		<visual name="key-79">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_78" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_78"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_79">
+		<visual name="key-80">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_79" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_79"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_80">
+		<visual name="key-81">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_80" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_80"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_81">
+		<visual name="key-82">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_81"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_82">
+		<visual name="key-83">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_82" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_82"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_83">
+		<visual name="key-84">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_83" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_83"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_84">
+		<visual name="key-85">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_84" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_84"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_85">
+		<visual name="key-86">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_85" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_85"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_86">
+		<visual name="key-87">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_86" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_86"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_87">
+		<visual name="key-88">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_87" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_87"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_88">
+		<visual name="key-89">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_88" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_88"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_89">
+		<visual name="key-90">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_89" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_89"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_90">
+		<visual name="key-91">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_90" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_90"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_91">
+		<visual name="key-92">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_91" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_91"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_92">
+		<visual name="key-93">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_92" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_92"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_93">
+		<visual name="key-94">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_93" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_93"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_94">
+		<visual name="key-95">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_94" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_94"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_95">
+		<visual name="key-96">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_95" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_95"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_96">
+		<visual name="key-97">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_96" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_96"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_97">
+		<visual name="key-98">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_97" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_97"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_98">
+		<visual name="key-99">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_98" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_98"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_99">
+		<visual name="key-100">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_99" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_99"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_100">
+		<visual name="key-101">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_100" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_100"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_101">
+		<visual name="key-102">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_101" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_101"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_102">
+		<visual name="key-103">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_102" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_102"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+	<link name="link_103">
+		<visual name="key-104">
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.18961143713221618 -0.045078000000000173 -0.279702933467489"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_103" type="prismatic">
+		<origin xyz="-0.18961143713221618 0.045078000000000173 0.279702933467489"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_103"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.02"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Keyboard/12738/mobility_v2.json b/data/PartNet-Mobility/Keyboard/12738/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f39fb4d2dfa4e2618893ec44f3d29057cb4ca1d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/ply-10000.ply b/data/PartNet-Mobility/Keyboard/12738/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..914e5e6d416471720908e5cbe030f0bbb84ba28f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/pts-10000.pts b/data/PartNet-Mobility/Keyboard/12738/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..1b486407bf0b77bf9eee710aea6d579b12af9d77
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/pts-10000.txt b/data/PartNet-Mobility/Keyboard/12738/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..675dad239c19311f1b59f4fc8aaaab3f4d4efdf5
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c8363451adfd27c2fb30cd0add4128497d4aa4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..d1f64a21078f4b1c8505848e367551a81e0a28aa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-label-10000.ply
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-nor-rgba-10000.ply b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-nor-rgba-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..f48fcdce678752c3ab5ef6d2cfcdcd2204e48757
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..686747d8c66552c2bb552f6a0df414a764deb49d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..1c7f00b441244ba500e61f5e24c55fd01c0a69d3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/result_after_merging.json b/data/PartNet-Mobility/Keyboard/12738/result_after_merging.json
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86, "name": "key", "objs": ["original-60"]}, {"text": "key", "id": 87, "ori_id": 87, "name": "key", "objs": ["original-78"]}, {"text": "key", "id": 88, "ori_id": 88, "name": "key", "objs": ["original-92"]}, {"text": "key", "id": 89, "ori_id": 89, "name": "key", "objs": ["original-32"]}, {"text": "key", "id": 90, "ori_id": 90, "name": "key", "objs": ["original-93"]}, {"text": "key", "id": 91, "ori_id": 91, "name": "key", "objs": ["original-44"]}, {"text": "key", "id": 92, "ori_id": 92, "name": "key", "objs": ["original-89"]}, {"text": "key", "id": 93, "ori_id": 93, "name": "key", "objs": ["original-15"]}, {"text": "key", "id": 94, "ori_id": 94, "name": "key", "objs": ["original-96"]}, {"text": "key", "id": 95, "ori_id": 95, "name": "key", "objs": ["original-16"]}, {"text": "key", "id": 96, "ori_id": 96, "name": "key", "objs": ["original-46"]}, {"text": "key", "id": 97, "ori_id": 97, "name": "key", "objs": ["original-72"]}, {"text": "key", "id": 98, "ori_id": 98, "name": "key", "objs": ["original-61"]}, {"text": "key", "id": 99, "ori_id": 99, "name": "key", "objs": ["original-75"]}, {"text": "key", "id": 100, "ori_id": 100, "name": "key", "objs": ["original-59"]}, {"text": "key", "id": 101, "ori_id": 101, "name": "key", "objs": ["original-13"]}, {"text": "key", "id": 102, "ori_id": 102, "name": "key", "objs": ["original-10"]}, {"text": "key", "id": 103, "ori_id": 103, "name": "key", "objs": ["original-14"]}, {"text": "key", "id": 104, "ori_id": 104, "name": "key", "objs": ["original-50"]}], "objs": ["original-104", "original-12", "original-79", "original-29", "original-39", "original-94", "original-80", "original-6", "original-56", "original-43", "original-68", "original-84", "original-95", "original-69", "original-71", "original-49", "original-48", "original-99", "original-34", "original-77", "original-64", "original-85", "original-36", "original-97", "original-24", "original-42", "original-23", "original-20", "original-8", "original-7", "original-9", "original-25", "original-27", "original-45", "original-83", "original-81", "original-41", "original-91", "original-28", "original-33", "original-98", "original-73", "original-65", "original-5", "original-86", "original-63", "original-19", "original-87", "original-26", "original-51", "original-90", "original-58", "original-54", "original-30", "original-35", "original-37", "original-57", "original-2", "original-52", "original-17", "original-53", "original-62", "original-22", "original-18", "original-40", "original-102", "original-11", "original-67", "original-31", "original-4", "original-47", "original-82", "original-70", "original-1", "original-74", "original-21", "original-88", "original-100", "original-101", "original-103", "original-3", "original-38", "original-55", "original-76", "original-66", "original-60", "original-78", "original-92", "original-32", "original-93", "original-44", "original-89", "original-15", "original-96", "original-16", "original-46", "original-72", "original-61", "original-75", "original-59", "original-13", "original-10", "original-14", "original-50"]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12738/semantics.txt b/data/PartNet-Mobility/Keyboard/12738/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbb32dd44d2dfa2804ce1249ed13d71cdb8fe4ac
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/semantics.txt
@@ -0,0 +1,104 @@
+link_0 free keyboard_base
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
+link_15 slider key
+link_16 slider key
+link_17 slider key
+link_18 slider key
+link_19 slider key
+link_20 slider key
+link_21 slider key
+link_22 slider key
+link_23 slider key
+link_24 slider key
+link_25 slider key
+link_26 slider key
+link_27 slider key
+link_28 slider key
+link_29 slider key
+link_30 slider key
+link_31 slider key
+link_32 slider key
+link_33 slider key
+link_34 slider key
+link_35 slider key
+link_36 slider key
+link_37 slider key
+link_38 slider key
+link_39 slider key
+link_40 slider key
+link_41 slider key
+link_42 slider key
+link_43 slider key
+link_44 slider key
+link_45 slider key
+link_46 slider key
+link_47 slider key
+link_48 slider key
+link_49 slider key
+link_50 slider key
+link_51 slider key
+link_52 slider key
+link_53 slider key
+link_54 slider key
+link_55 slider key
+link_56 slider key
+link_57 slider key
+link_58 slider key
+link_59 slider key
+link_60 slider key
+link_61 slider key
+link_62 slider key
+link_63 slider key
+link_64 slider key
+link_65 slider key
+link_66 slider key
+link_67 slider key
+link_68 slider key
+link_69 slider key
+link_70 slider key
+link_71 slider key
+link_72 slider key
+link_73 slider key
+link_74 slider key
+link_75 slider key
+link_76 slider key
+link_77 slider key
+link_78 slider key
+link_79 slider key
+link_80 slider key
+link_81 slider key
+link_82 slider key
+link_83 slider key
+link_84 slider key
+link_85 slider key
+link_86 slider key
+link_87 slider key
+link_88 slider key
+link_89 slider key
+link_90 slider key
+link_91 slider key
+link_92 slider key
+link_93 slider key
+link_94 slider key
+link_95 slider key
+link_96 slider key
+link_97 slider key
+link_98 slider key
+link_99 slider key
+link_100 slider key
+link_101 slider key
+link_102 slider key
+link_103 slider key
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c879440238e7b18f5db9739048f8baf140d2f960
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.28627450980392155 0.43137254901960786 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ee9d20774a3f34277ef7fe7e39aca644efabdf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-1.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v 0.892227 0.045078 0.276108
+v 0.892227 0.012356 0.179251
+v 0.892227 0.012356 0.276108
+v 0.892227 0.045078 0.179251
+v 0.905861 0.012356 0.148984
+v 0.848598 0.012356 0.276108
+v 0.848598 0.045078 0.179251
+v 0.905861 0.012356 0.306375
+v 0.834964 0.012356 0.148984
+v 0.848598 0.045078 0.276108
+v 0.848598 0.012356 0.179251
+v 0.834964 0.012356 0.306375
+vn -1 0 0
+vn 0 0 -1
+vn 0 -1 0
+vn 0 0 1
+vn 1 0 0
+vn 0 1 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.6003839308357755 -0.7997119078731935
+vn 0 0.600383930835775 0.7997119078731937
+vn -0.9230770710058602 0.384615029585743 0
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 -0.6003839308357755 0.7997119078731935
+vn 0 -0.600383930835775 -0.7997119078731937
+vn 0.9230770710058602 -0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 6//2 1//2 3//2
+f 1//3 7//3 4//3
+f 7//4 2//4 4//4
+f 1//2 6//2 10//2
+f 7//3 1//3 10//3
+f 2//4 7//4 11//4
+f 6//5 7//5 10//5
+f 7//5 6//5 11//5
+usemtl material_1_0
+f 3//5 2//5 1//5
+f 4//5 1//5 2//5
+f 2//6 3//6 5//6
+f 3//4 1//4 6//4
+f 4//7 1//7 5//7
+f 4//6 7//6 1//6
+f 4//2 2//2 7//2
+f 5//6 3//6 8//6
+f 9//6 2//6 5//6
+f 10//4 6//4 1//4
+f 6//6 8//6 3//6
+f 8//7 5//7 1//7
+f 5//8 9//8 4//8
+f 10//6 1//6 7//6
+f 7//8 4//8 9//8
+f 11//2 7//2 2//2
+f 2//6 9//6 11//6
+f 10//1 7//1 6//1
+f 10//9 12//9 1//9
+f 8//6 6//6 12//6
+f 8//9 1//9 12//9
+f 10//10 7//10 12//10
+f 9//10 12//10 7//10
+f 11//1 6//1 7//1
+f 11//6 9//6 6//6
+f 9//6 12//6 6//6
+usemtl material_2_0
+f 5//3 3//3 2//3
+f 5//11 1//11 4//11
+f 8//3 3//3 5//3
+f 5//3 2//3 9//3
+f 3//3 8//3 6//3
+f 1//11 5//11 8//11
+f 4//12 9//12 5//12
+f 9//12 4//12 7//12
+f 11//3 9//3 2//3
+f 1//13 12//13 10//13
+f 12//3 6//3 8//3
+f 12//13 1//13 8//13
+f 12//14 7//14 10//14
+f 7//14 12//14 9//14
+f 6//3 9//3 11//3
+f 6//3 12//3 9//3
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b67d22ac2c600cf744f0ec0c9cb4096e13ea086
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-10.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o Key1_1_1/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.285377 0.045078 0.291241
+v 0.303783 0.012356 0.227680
+v 0.303783 0.012356 0.306375
+v 0.285377 0.045078 0.242813
+v 0.208072 0.012356 0.227680
+v 0.226478 0.045078 0.291241
+v 0.208072 0.012356 0.306375
+v 0.226478 0.045078 0.242813
+vn -0.8715757640703518 -0.49026083617313587 0
+vn 0.8715757640703518 0.49026083617313587 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.8715757640703518 -0.49026083617313587 0
+vn -0.8715757640703518 0.49026083617313587 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a595a8e15cf4a834f5eb0f33ff0b80ec30eff7a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-100.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o Key1_4_19/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.679537 0.045078 0.055155
+v 0.693171 0.012356 -0.008407
+v 0.693171 0.012356 0.070288
+v 0.679537 0.045078 0.006727
+v 0.622274 0.012356 -0.008407
+v 0.635908 0.045078 0.055155
+v 0.622274 0.012356 0.070288
+v 0.635908 0.045078 0.006727
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b53d9def194ff88d3978865d4df5cb6d0c5b33e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-101.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o Key1_4_20/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.750433 0.045078 0.055155
+v 0.764067 0.012356 -0.008407
+v 0.764067 0.012356 0.070288
+v 0.750433 0.045078 0.006727
+v 0.693171 0.012356 -0.008407
+v 0.706805 0.045078 0.055155
+v 0.693171 0.012356 0.070288
+v 0.706805 0.045078 0.006727
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6534f2d00678e9aea142816721ec95b349d47f5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-102.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o Key1_4_21/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.472299 0.045078 0.212546
+v 0.485933 0.012356 0.148984
+v 0.485933 0.012356 0.227680
+v 0.472299 0.045078 0.164118
+v 0.415037 0.012356 0.148984
+v 0.428671 0.045078 0.212546
+v 0.415037 0.012356 0.227680
+v 0.428671 0.045078 0.164118
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-103.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-103.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..77071dd41667ed3d5bc5d5e7e437c46cd26f1180
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-11.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Key1_4_1/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.472299 0.045078 0.291241
+v 0.485933 0.012356 0.227680
+v 0.485933 0.012356 0.306375
+v 0.472299 0.045078 0.242813
+v 0.415037 0.012356 0.227680
+v 0.428671 0.045078 0.291241
+v 0.415037 0.012356 0.306375
+v 0.428671 0.045078 0.242813
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..819852f37f6ad8dd3be51bc4dc1e39b40454f519
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-12.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o Space_bar1/Space_bar/mesh12/mesh12-geometry#mesh12-geometry
+v 0.001926 0.045078 0.242813
+v -0.557614 0.012356 0.227680
+v 0.016651 0.012356 0.227680
+v -0.542889 0.045078 0.242813
+v -0.557614 0.012356 0.306375
+v 0.001926 0.045078 0.291241
+v -0.542889 0.045078 0.291241
+v 0.016651 0.012356 0.306375
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0 -1 0
+vn 0 1 0
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 3//3 5//3 2//3
+f 2//4 5//4 3//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 1//3 7//3 4//3
+f 4//4 7//4 1//4
+f 7//7 2//7 4//7
+f 4//8 2//8 7//8
+f 5//3 3//3 8//3
+f 8//4 3//4 5//4
+f 2//7 7//7 5//7
+f 5//8 7//8 2//8
+f 6//5 3//5 8//5
+f 8//6 3//6 6//6
+f 7//3 1//3 6//3
+f 6//4 1//4 7//4
+f 7//9 8//9 5//9
+f 5//10 8//10 7//10
+f 8//9 7//9 6//9
+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3d6740f5efd7e19f1552f394ffb0daca6d0f52d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-13.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o Key1_1_2/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.787484 0.045078 -0.211199
+v -0.773850 0.012356 -0.274761
+v -0.773850 0.012356 -0.196066
+v -0.787484 0.045078 -0.259627
+v -0.844746 0.012356 -0.274761
+v -0.831112 0.045078 -0.211199
+v -0.844746 0.012356 -0.196066
+v -0.831112 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d4c3556e8d0ec76d360283438952b6ef9607ba
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-14.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o Key1_1_3/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.189666 0.045078 0.291241
+v 0.208072 0.012356 0.227680
+v 0.208072 0.012356 0.306375
+v 0.189666 0.045078 0.242813
+v 0.112361 0.012356 0.227680
+v 0.130767 0.045078 0.291241
+v 0.112361 0.012356 0.306375
+v 0.130767 0.045078 0.242813
+vn -0.8715757640703518 -0.49026083617313587 0
+vn 0.8715757640703518 0.49026083617313587 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.8715757640703518 -0.49026083617313587 0
+vn -0.8715757640703518 0.49026083617313587 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0f2f288b4bdfcc4e9553c5f74b67ace4a354c1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-15.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o Key1_3_1/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.062154 0.045078 -0.211199
+v -0.048520 0.012356 -0.274761
+v -0.048520 0.012356 -0.196066
+v -0.062154 0.045078 -0.259627
+v -0.119417 0.012356 -0.274761
+v -0.105783 0.045078 -0.211199
+v -0.119417 0.012356 -0.196066
+v -0.105783 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 -1 0
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
+f 3//2 5//2 7//2
+f 6//3 3//3 7//3
+f 4//4 6//4 8//4
+f 5//5 4//5 8//5
+f 5//6 6//6 7//6
+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
+f 2//4 3//4 5//4
+f 1//8 6//8 3//8
+f 1//2 4//2 6//2
+f 2//9 5//9 4//9
+f 7//4 5//4 3//4
+f 7//8 3//8 6//8
+f 8//2 6//2 4//2
+f 8//9 4//9 5//9
+f 7//10 6//10 5//10
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b835638801391bd13d9f424763bf9930619788e3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-16.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o Key1_3_2/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.274845 0.045078 -0.211199
+v -0.261211 0.012356 -0.274761
+v -0.261211 0.012356 -0.196066
+v -0.274845 0.045078 -0.259627
+v -0.332107 0.012356 -0.274761
+v -0.318473 0.045078 -0.211199
+v -0.332107 0.012356 -0.196066
+v -0.318473 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 -1 0
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
+f 3//2 5//2 7//2
+f 6//3 3//3 7//3
+f 4//4 6//4 8//4
+f 5//5 4//5 8//5
+f 5//6 6//6 7//6
+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
+f 2//4 3//4 5//4
+f 1//8 6//8 3//8
+f 1//2 4//2 6//2
+f 2//9 5//9 4//9
+f 7//4 5//4 3//4
+f 7//8 3//8 6//8
+f 8//2 6//2 4//2
+f 8//9 4//9 5//9
+f 7//10 6//10 5//10
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b99d989588fb7d65f03aa31739da6088802f4a1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-17.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o Key1_4_2/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.401403 0.045078 0.055155
+v 0.415037 0.012356 -0.008407
+v 0.415037 0.012356 0.070288
+v 0.401403 0.045078 0.006727
+v 0.344140 0.012356 -0.008407
+v 0.357774 0.045078 0.055155
+v 0.344140 0.012356 0.070288
+v 0.357774 0.045078 0.006727
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 3//5 6//5 1//5
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+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
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+f 3//3 5//3 7//3
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+f 6//5 3//5 7//5
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+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9fb1ee84dc377200072b2df69d52efebe7be130
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-18.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o Key1_4_3/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.543196 0.045078 0.055155
+v 0.556830 0.012356 -0.008407
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..993c145b835198fc62c99eb4281d34d7e6045eac
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-19.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o Key1_1_4/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.629765 0.045078 -0.023541
+v -0.615041 0.012356 -0.087103
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eec766f7a86e9803acb071f7ee9475b4c51222fa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b22316ace009c87bff7f835672c4e305fb5aa8bf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-2.obj
@@ -0,0 +1,93 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o Group2/mesh2/mesh2-geometry#mesh2-geometry
+v 0.180095 0.045078 -0.023541
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b57ab2ebea267cbae9f819063b983e9263a42e43
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-20.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o Key1_1_5/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.097637 0.045078 0.212546
+v 0.112361 0.012356 0.148984
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a98e3ef38ba5820c192eebfc769041d8f8f7a52f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-21.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o Key1_4_4/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.750433 0.045078 0.133850
+v 0.764067 0.012356 0.070288
+v 0.764067 0.012356 0.148984
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb75afdb400bbd11b6abe1ae50b8da90a7a87deb
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-22.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Key1_4_5/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.543196 0.045078 -0.023541
+v 0.556830 0.012356 -0.087103
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bdc9081255e4895d04353c2087122bcc37c31d2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-23.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o Key1_1_6/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.135921 0.045078 0.133850
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+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
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+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0adf0cd5a4305dcf8a566839109b77d56b6070
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-24.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o Key1_1_7/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.021068 0.045078 0.212546
+v 0.035793 0.012356 0.148984
+v 0.035793 0.012356 0.227680
+v 0.021068 0.045078 0.164118
+v -0.040776 0.012356 0.148984
+v -0.026051 0.045078 0.212546
+v -0.040776 0.012356 0.227680
+v -0.026051 0.045078 0.164118
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f358e10d35314b790b83f985b0e4e4a9d47b5d6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-25.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o Key1_1_8/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.174205 0.045078 0.055155
+v 0.188930 0.012356 -0.008407
+v 0.188930 0.012356 0.070288
+v 0.174205 0.045078 0.006727
+v 0.112361 0.012356 -0.008407
+v 0.127086 0.045078 0.055155
+v 0.112361 0.012356 0.070288
+v 0.127086 0.045078 0.006727
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bf35ceb783880b8354aeb67990bc73570874d6f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-26.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o Key1_1_9/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.476628 0.045078 -0.023541
+v -0.461903 0.012356 -0.087103
+v -0.461903 0.012356 -0.008407
+v -0.476628 0.045078 -0.071969
+v -0.538472 0.012356 -0.087103
+v -0.523747 0.045078 -0.023541
+v -0.538472 0.012356 -0.008407
+v -0.523747 0.045078 -0.071969
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69dd8f22475f86b24afc89a7fbf7d33436a5d69c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-27.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o Key1_1_10/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.097637 0.045078 0.055155
+v 0.112361 0.012356 -0.008407
+v 0.112361 0.012356 0.070288
+v 0.097637 0.045078 0.006727
+v 0.035793 0.012356 -0.008407
+v 0.050518 0.045078 0.055155
+v 0.035793 0.012356 0.070288
+v 0.050518 0.045078 0.006727
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a59c1faa0e141efee68be65557643defcdd03
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-28.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o Key1_1_11/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.361775 0.045078 0.055155
+v -0.347050 0.012356 -0.008407
+v -0.347050 0.012356 0.070288
+v -0.361775 0.045078 0.006727
+v -0.423619 0.012356 -0.008407
+v -0.408894 0.045078 0.055155
+v -0.423619 0.012356 0.070288
+v -0.408894 0.045078 0.006727
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3257c5dd1b3fc193e61a3b8932cd85103255e2d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-29.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o Key1_1_12/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.767442 0.045078 0.291241
+v -0.749036 0.012356 0.227680
+v -0.749036 0.012356 0.306375
+v -0.767442 0.045078 0.242813
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+v -0.826340 0.045078 0.291241
+v -0.844746 0.012356 0.306375
+v -0.826340 0.045078 0.242813
+vn -0.8715757640703518 -0.49026083617313587 0
+vn 0.8715757640703518 0.49026083617313587 0
+vn 0 1 0
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+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.8715757640703518 -0.49026083617313587 0
+vn -0.8715757640703518 0.49026083617313587 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 3//5 6//5 1//5
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+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
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+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
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+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c879440238e7b18f5db9739048f8baf140d2f960
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.28627450980392155 0.43137254901960786 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d621e8ce019a553a2efba9366cc195205eea8d6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-3.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group3/mesh3/mesh3-geometry#mesh3-geometry
+v 0.892227 0.045078 0.118716
+v 0.892227 0.012356 0.021860
+v 0.892227 0.012356 0.118716
+v 0.892227 0.045078 0.021860
+v 0.905861 0.012356 -0.008407
+v 0.848598 0.012356 0.118716
+v 0.848598 0.045078 0.021860
+v 0.905861 0.012356 0.148984
+v 0.834964 0.012356 -0.008407
+v 0.848598 0.045078 0.118716
+v 0.848598 0.012356 0.021860
+v 0.834964 0.012356 0.148984
+vn -1 0 0
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+vn 0.9230770710058602 0.384615029585743 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 6//2 1//2 3//2
+f 1//3 7//3 4//3
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+f 1//2 6//2 10//2
+f 7//3 1//3 10//3
+f 2//4 7//4 11//4
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6a4516593d2f2c329b23d89cb484b90ba7b1558
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-30.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o Key1_1_13/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.093785 0.045078 -0.023541
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+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cd554e14113e4957ef4887762314ea5e19bfc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.28627450980392155 0.43137254901960786 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce2bd04ea72f90b82794b8e5f2c127eab420bd79
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-31.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o Key1_7_1/Key1_7/mesh14/mesh14-geometry#mesh14-geometry
+v 0.821330 0.045078 0.291241
+v 0.834964 0.012356 0.227680
+v 0.834964 0.012356 0.306375
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+v 0.777701 0.045078 0.291241
+v 0.764067 0.012356 0.306375
+v 0.777701 0.045078 0.242813
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0 -1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//3 6//3 1//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84b8f5ea1bbc514d64a4d7c9c0bfa4d60f8e69f7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-32.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o Key1_3_3/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v 0.275970 0.045078 -0.211199
+v 0.289604 0.012356 -0.274761
+v 0.289604 0.012356 -0.196066
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+v 0.218707 0.012356 -0.196066
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+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0 -1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeb24ef7202cfbf8e3af7489eb0ae07722fd1784
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-33.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
+o Group_2_1/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.500188 0.012356 -0.008407
+v -0.485463 0.045078 0.055155
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+vn 0.9119216715391062 -0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 1 0
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+vn 0 -1 0
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+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
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+usemtl material_1_0
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+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72f6fa9be0058c8786c23922e52827e41a378910
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-34.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o Key1_1_14/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.170353 0.045078 0.133850
+v -0.155629 0.012356 0.070288
+v -0.155629 0.012356 0.148984
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+vn -0.9119216715391062 -0.41036430763081994 0
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+vn 0.9119216715391062 -0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ebf54b44d3fed689ac9736359f8e56987d1cba95
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-35.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o Key1_1_15/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.017216 0.045078 -0.023541
+v -0.002491 0.012356 -0.087103
+v -0.002491 0.012356 -0.008407
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+vn 0 0.4197771317359037 0.9076272140430662
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+vn 0.9119216715391062 -0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a42437c5d707de9baa44d2dba93f8911000fee35
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-36.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o Key1_1_16/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.017216 0.045078 0.133850
+v -0.002491 0.012356 0.070288
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..991e7da98384ff0b132cc58c0d48dcf7fb902e0f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-37.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o Key1_1_17/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cd554e14113e4957ef4887762314ea5e19bfc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cc40ff41634e2aed8f2ac589752b897dd476f4b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-38.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
+o Key1_7_2/Key1_7/mesh14/mesh14-geometry#mesh14-geometry
+v 0.892227 0.045078 -0.023541
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-39.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-39.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/Keyboard/12738/textured_objs/original-39.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28de13c2f15d43035e15e4b8a8512acbf3bffd83
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-39.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o Key1_1_18/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.671731 0.045078 0.291241
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eec766f7a86e9803acb071f7ee9475b4c51222fa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..262d74e32d36cb68a98e98f9107a6ce39ffd1e83
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-4.obj
@@ -0,0 +1,93 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o Group4/mesh4/mesh4-geometry#mesh4-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-40.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-40.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/Keyboard/12738/textured_objs/original-40.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863b9f45062b2a1b876a1f03f8e9849b35f290b6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-40.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o Key1_4_6/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.401403 0.045078 0.291241
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600b83560a00bf6fe40ef1a379e5daac7c21cd13
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-41.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o Group_2_2/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.193913 0.012356 -0.008407
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab896bab92df2f37064efa89c566b3345da37d19
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-42.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o Key1_1_19/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.059352 0.045078 0.133850
+v 0.074077 0.012356 0.070288
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+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fbdb1364aa40ee3892f222e9ae969afd8ab04b6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-43.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o Group_2_3/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.615041 0.012356 0.070288
+v -0.600316 0.045078 0.133850
+v -0.615041 0.012356 0.148984
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+v -0.553197 0.045078 0.133850
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+vn 0.9119216715391062 -0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 1 0
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+vn 0 -1 0
+vn -0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 5//3 1//3 3//3
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+f 2//5 6//5 7//5
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+usemtl material_1_0
+f 3//7 2//7 1//7
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+f 7//3 6//3 2//3
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+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e3e303f6a57f5656c66c9ad7b9dbdac0b4a7339
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-44.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o Key1_3_4/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v 0.134176 0.045078 -0.211199
+v 0.147810 0.012356 -0.274761
+v 0.147810 0.012356 -0.196066
+v 0.134176 0.045078 -0.259627
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+v 0.090547 0.045078 -0.211199
+v 0.076913 0.012356 -0.196066
+v 0.090547 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0 -1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
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+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bae8e5af6ddb25f2c6705dd80dcbb5e53a67a2dd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-45.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o Group_2_4/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.040776 0.012356 -0.008407
+v -0.026051 0.045078 0.055155
+v -0.040776 0.012356 0.070288
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+vn 0 1 0
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+vn 0 -1 0
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+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
+f 1//4 6//4 4//4
+f 6//5 2//5 4//5
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+f 1//3 5//3 8//3
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+f 2//5 6//5 7//5
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+usemtl material_1_0
+f 3//7 2//7 1//7
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+f 7//3 6//3 2//3
+f 5//10 8//10 7//10
+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad73c8b0ecb5008ad8a66cd6315bccff3e59d1af
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-46.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o Key1_3_5/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.203948 0.045078 -0.211199
+v -0.190314 0.012356 -0.274761
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8a0481ca0c0f488fb1d7992a5b3b548abb2b1c4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-47.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o Key1_4_7/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.679537 0.045078 0.212546
+v 0.693171 0.012356 0.148984
+v 0.693171 0.012356 0.227680
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+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb50053d6c06ca84e526c4428fb6fb8e4ebd79e4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-48.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o Group_2_5/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.308766 0.012356 0.070288
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+f 3//5 1//5 5//5
+f 4//9 6//9 1//9
+f 4//3 2//3 6//3
+f 7//8 2//8 5//8
+f 8//5 5//5 1//5
+f 8//9 1//9 6//9
+f 7//3 6//3 2//3
+f 5//10 8//10 7//10
+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ed278d066b0e519fa1575be4d0d80536739df92
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-49.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o Key1_1_20/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.323491 0.045078 0.133850
+v -0.308766 0.012356 0.070288
+v -0.308766 0.012356 0.148984
+v -0.323491 0.045078 0.085422
+v -0.385335 0.012356 0.070288
+v -0.370610 0.045078 0.133850
+v -0.385335 0.012356 0.148984
+v -0.370610 0.045078 0.085422
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
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+f 8//3 6//3 4//3
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+f 7//10 6//10 5//10
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b6fe38ce66de31a6c9ce63ddf089e485450bf975
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d94a27d1e6af1f4f8fbda3af777916dcb7c0b4d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-5.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o Group5/mesh5/mesh5-geometry#mesh5-geometry
+v -0.822659 0.045078 0.055155
+v -0.844746 0.012356 -0.008407
+v -0.844746 0.012356 0.070288
+v -0.822659 0.045078 0.006727
+v -0.729893 0.012356 -0.008407
+v -0.751981 0.045078 0.055155
+v -0.729893 0.012356 0.070288
+v -0.751981 0.045078 0.006727
+vn -0.8655179224461356 0.5008779551193338 0
+vn 0 0.3514318059358958 0.9362134830136953
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.35143180593589635 -0.9362134830136953
+vn 0.8655179224461356 0.5008779551193338 0
+vn 0.8655179224461356 -0.5008779551193338 0
+vn 0 -0.3514318059358958 -0.9362134830136953
+vn 0 -0.35143180593589635 0.9362134830136953
+vn -0.8655179224461356 -0.5008779551193338 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 6//2 1//2
+f 6//3 4//3 1//3
+f 1//4 4//4 6//4
+f 4//5 5//5 2//5
+f 6//2 3//2 7//2
+f 4//3 6//3 8//3
+f 8//4 6//4 4//4
+f 5//5 4//5 8//5
+f 5//6 6//6 7//6
+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
+f 5//4 3//4 2//4
+f 2//3 3//3 5//3
+f 1//8 6//8 3//8
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+f 3//4 5//4 7//4
+f 7//3 5//3 3//3
+f 7//8 3//8 6//8
+f 8//9 4//9 5//9
+f 7//10 6//10 5//10
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ef11f11d075b7c5a24fd87d8767d4854c28ac6b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-50.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o Key1_1_21/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.093956 0.045078 0.291241
+v 0.112361 0.012356 0.227680
+v 0.112361 0.012356 0.306375
+v 0.093956 0.045078 0.242813
+v 0.016651 0.012356 0.227680
+v 0.035057 0.045078 0.291241
+v 0.016651 0.012356 0.306375
+v 0.035057 0.045078 0.242813
+vn -0.8715757640703518 -0.49026083617313587 0
+vn 0.8715757640703518 0.49026083617313587 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.8715757640703518 -0.49026083617313587 0
+vn -0.8715757640703518 0.49026083617313587 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb244358ed0d17dd94f76b7b3564aedb9831d34f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-51.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o Key1_1_22/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.400059 0.045078 -0.023541
+v -0.385335 0.012356 -0.087103
+v -0.385335 0.012356 -0.008407
+v -0.400059 0.045078 -0.071969
+v -0.461903 0.012356 -0.087103
+v -0.447179 0.045078 -0.023541
+v -0.461903 0.012356 -0.008407
+v -0.447179 0.045078 -0.071969
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14ff54b2881d60cd854e4c18aff09ade414929b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-52.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o Key1_4_8/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.401403 0.045078 -0.023541
+v 0.415037 0.012356 -0.087103
+v 0.415037 0.012356 -0.008407
+v 0.401403 0.045078 -0.071969
+v 0.344140 0.012356 -0.087103
+v 0.357774 0.045078 -0.023541
+v 0.344140 0.012356 -0.008407
+v 0.357774 0.045078 -0.071969
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf6a0876bf0b51b7e18de73092e8f98bb590fdf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-53.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o Key1_4_9/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.472299 0.045078 0.055155
+v 0.485933 0.012356 -0.008407
+v 0.485933 0.012356 0.070288
+v 0.472299 0.045078 0.006727
+v 0.415037 0.012356 -0.008407
+v 0.428671 0.045078 0.055155
+v 0.415037 0.012356 0.070288
+v 0.428671 0.045078 0.006727
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9677fc631a7a54711dfb4515bc9866f74db472d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-54.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o Key1_1_23/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.170353 0.045078 -0.023541
+v -0.155629 0.012356 -0.087103
+v -0.155629 0.012356 -0.008407
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+v -0.232197 0.012356 -0.087103
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+v -0.232197 0.012356 -0.008407
+v -0.217473 0.045078 -0.071969
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+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
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+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
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+f 8//3 6//3 4//3
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+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cd554e14113e4957ef4887762314ea5e19bfc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8f9679acd14c95a53457b0bfafadc59edfffd4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-55.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o Key1_7_3/Key1_7/mesh14/mesh14-geometry#mesh14-geometry
+v 0.821330 0.045078 -0.023541
+v 0.834964 0.012356 -0.087103
+v 0.834964 0.012356 -0.008407
+v 0.821330 0.045078 -0.071969
+v 0.764067 0.012356 -0.087103
+v 0.777701 0.045078 -0.023541
+v 0.764067 0.012356 -0.008407
+v 0.777701 0.045078 -0.071969
+vn -0.9230770710058602 -0.384615029585743 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 3//3 6//3 1//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..22bb536485068b2a75ecc44e49523d11116cb6cc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-56.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
+o Key1_1_24/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.591481 0.045078 0.212546
+v -0.576756 0.012356 0.148984
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+vn 0.9119216715391062 -0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9d5095eb4838b1eb93979bbb2f3efbc05b6144e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-57.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
+o Key1_1_25/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v 0.135921 0.045078 -0.023541
+v 0.150646 0.012356 -0.087103
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+vn 0.9119216715391062 -0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9ad4bb8837a317384d07652e44981398e82c30
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-58.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
+o Key1_1_26/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
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+vn 0.9119216715391062 -0.41036430763081994 0
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca9dd18f01a714eb1ef63b65874c8d185e5f03a6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-59.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
+o Key1_3_6/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.612968 0.045078 -0.211199
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61198a48b34d89df583772c4037226d66869ab00
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c47b17b7566cd1597913537d9590420432f1c4df
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-6.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Group6/mesh6/mesh6-geometry#mesh6-geometry
+v -0.697499 0.045078 0.164118
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98a85a8a41329db623278692ba3a70241d5d5cf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-60.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o Key1_4_10/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.537743 0.045078 -0.211199
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05eddaf6089c0aacd55218f3b214099069840e0f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-61.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
+o Key1_3_7/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.471174 0.045078 -0.211199
+v -0.457540 0.012356 -0.274761
+v -0.457540 0.012356 -0.196066
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+v -0.528437 0.012356 -0.274761
+v -0.514803 0.045078 -0.211199
+v -0.528437 0.012356 -0.196066
+v -0.514803 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0 -1 0
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
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+f 6//3 3//3 7//3
+f 4//4 6//4 8//4
+f 5//5 4//5 8//5
+f 5//6 6//6 7//6
+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
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+f 1//2 4//2 6//2
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93777ad6677cf1d267d6e83d88c5480a4c20c6aa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-62.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o Key1_4_11/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.472299 0.045078 -0.023541
+v 0.485933 0.012356 -0.087103
+v 0.485933 0.012356 -0.008407
+v 0.472299 0.045078 -0.071969
+v 0.415037 0.012356 -0.087103
+v 0.428671 0.045078 -0.023541
+v 0.415037 0.012356 -0.008407
+v 0.428671 0.045078 -0.071969
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
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+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a0aca0f2ed0467fb3ba90ec4639624d4dd108d2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-63.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o Key1_1_27/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.706334 0.045078 -0.023541
+v -0.691609 0.012356 -0.087103
+v -0.691609 0.012356 -0.008407
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+v -0.753453 0.045078 -0.023541
+v -0.768178 0.012356 -0.008407
+v -0.753453 0.045078 -0.071969
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
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+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52784f6f0b74ca7a80fdf764e23b68b030d5697a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-64.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o Group_2_6/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.270482 0.012356 0.148984
+v -0.255757 0.045078 0.212546
+v -0.270482 0.012356 0.227680
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+v -0.208638 0.045078 0.212546
+v -0.193913 0.012356 0.148984
+vn 0.9119216715391062 -0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 1 0
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+vn 0 -1 0
+vn -0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
+f 1//4 6//4 4//4
+f 6//5 2//5 4//5
+f 5//2 2//2 7//2
+f 1//3 5//3 8//3
+f 6//4 1//4 8//4
+f 2//5 6//5 7//5
+f 7//6 8//6 5//6
+f 8//6 7//6 6//6
+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
+f 3//8 5//8 2//8
+f 3//5 1//5 5//5
+f 4//9 6//9 1//9
+f 4//3 2//3 6//3
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+f 8//5 5//5 1//5
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+f 7//3 6//3 2//3
+f 5//10 8//10 7//10
+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fcaa5fc91542b0e378b2a4407e6ea05c976587f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-65.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o Key1_1_28/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.668050 0.045078 0.055155
+v -0.653325 0.012356 -0.008407
+v -0.653325 0.012356 0.070288
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+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b8b80fbd07caa96a3853429e11c0a7f435c434c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-66.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o Key1_3_8/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v 0.679537 0.045078 -0.023541
+v 0.693171 0.012356 -0.087103
+v 0.693171 0.012356 -0.008407
+v 0.679537 0.045078 -0.071969
+v 0.622274 0.012356 -0.087103
+v 0.635908 0.045078 -0.023541
+v 0.622274 0.012356 -0.008407
+v 0.635908 0.045078 -0.071969
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 -1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
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+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+usemtl material_1_0
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+f 8//2 6//2 4//2
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+f 7//10 6//10 5//10
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7a018f6ba61e305489d5461fe2037ab0c65fd8a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-67.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o Key1_4_12/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.543196 0.045078 0.291241
+v 0.556830 0.012356 0.227680
+v 0.556830 0.012356 0.306375
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+vn 0 0.41977713173590414 -0.907627214043066
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+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a81ce7ccffc61c2630c8f55f1aaab6fe76e31db7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-68.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o Key1_1_29/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.514912 0.045078 0.212546
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-69.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-69.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/Keyboard/12738/textured_objs/original-69.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..efc37e771dacbf9b7ca153bfe2fd781d62e61a15
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-69.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
+o Key1_1_30/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.361775 0.045078 0.212546
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..eec766f7a86e9803acb071f7ee9475b4c51222fa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.mtl
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e3d59a2356ea566a310165f28fcd3733df3885d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-7.obj
@@ -0,0 +1,93 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Group7/mesh7/mesh7-geometry#mesh7-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93f771a6345f9d942c298d66c71c2faa58693977
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-70.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o Key1_4_13/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.821330 0.045078 0.212546
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-71.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-71.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/Keyboard/12738/textured_objs/original-71.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2576dc24ebef18a413d249c9ff313ff14380715e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-71.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
+o Key1_1_31/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.400059 0.045078 0.133850
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a668862144d4d00fc71d2111239229b9392bf22a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-72.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o Key1_3_9/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.400277 0.045078 -0.211199
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-73.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-73.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/Keyboard/12738/textured_objs/original-73.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e5322849990d3852458f3467cb7add34ddb0b66
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-73.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o Key1_1_32/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
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+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc997f4fd5a0eb11300bcd259757f5705c77b213
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-74.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o Key1_4_14/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.821330 0.045078 0.133850
+v 0.834964 0.012356 0.070288
+v 0.834964 0.012356 0.148984
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+v 0.777701 0.045078 0.085422
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
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+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
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+f 3//3 5//3 7//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0c3f9e7259546210459a262662efba3d6c29f22
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-75.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o Key1_3_10/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.542071 0.045078 -0.211199
+v -0.528437 0.012356 -0.274761
+v -0.528437 0.012356 -0.196066
+v -0.542071 0.045078 -0.259627
+v -0.599334 0.012356 -0.274761
+v -0.585700 0.045078 -0.211199
+v -0.599334 0.012356 -0.196066
+v -0.585700 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 -1 0
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
+f 3//2 5//2 7//2
+f 6//3 3//3 7//3
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+f 5//5 4//5 8//5
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6e6cd554e14113e4957ef4887762314ea5e19bfc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.28627450980392155 0.43137254901960786 0.49411764705882355 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d116f7a56a45de46ab0fe4d4c00a41777a74e743
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-76.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o Key1_7_4/Key1_7/mesh14/mesh14-geometry#mesh14-geometry
+v 0.750433 0.045078 -0.023541
+v 0.764067 0.012356 -0.087103
+v 0.764067 0.012356 -0.008407
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+v 0.693171 0.012356 -0.087103
+v 0.706805 0.045078 -0.023541
+v 0.693171 0.012356 -0.008407
+v 0.706805 0.045078 -0.071969
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 -1 0
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bf79d9b0db080df2be38ec1dc975af4e90a4f4c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-77.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
+o Key1_1_33/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.285206 0.045078 0.212546
+v -0.270482 0.012356 0.148984
+v -0.270482 0.012356 0.227680
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+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..deddaa19c13d58a9e0445f20828faa848564dab3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-78.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 78
+mtllib original-78.mtl
+o Key1_4_15/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.466846 0.045078 -0.211199
+v 0.480480 0.012356 -0.274761
+v 0.480480 0.012356 -0.196066
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+v 0.409583 0.012356 -0.196066
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+vn -0.9230770710058602 -0.384615029585743 0
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+vn 0 0.4197771317359037 0.9076272140430661
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+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..21aa3a1dd8e0e0b23cd95ff5b97349c0373cdc6c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-79.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 79
+mtllib original-79.mtl
+o Key1_1_34/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.576020 0.045078 0.291241
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61198a48b34d89df583772c4037226d66869ab00
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d962e48221b41d7c37cf352eb85d103c8ed39e63
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-8.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o Group8/mesh8/mesh8-geometry#mesh8-geometry
+v 0.259609 0.045078 0.164118
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+f 7//2 1//2 6//2
+f 7//5 8//5 5//5
+f 8//5 7//5 6//5
+usemtl material_1_0
+f 3//6 2//6 1//6
+f 4//6 1//6 2//6
+f 2//7 5//7 3//7
+f 1//8 6//8 3//8
+f 4//7 7//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..575bc6a27dbe2eae126a2efdc262df34cbab7c3e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-80.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
+o Group_2_7/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.691609 0.012356 0.070288
+v -0.676884 0.045078 0.133850
+v -0.691609 0.012356 0.148984
+v -0.676884 0.045078 0.085422
+v -0.615041 0.012356 0.148984
+v -0.629765 0.045078 0.085422
+v -0.629765 0.045078 0.133850
+v -0.615041 0.012356 0.070288
+vn 0.9119216715391062 -0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 1 0
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 -1 0
+vn -0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
+f 1//4 6//4 4//4
+f 6//5 2//5 4//5
+f 5//2 2//2 7//2
+f 1//3 5//3 8//3
+f 6//4 1//4 8//4
+f 2//5 6//5 7//5
+f 7//6 8//6 5//6
+f 8//6 7//6 6//6
+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ce69d6389719a2acc0571d8fbe0d66278bb22a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-81.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 81
+mtllib original-81.mtl
+o Key1_1_35/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.208638 0.045078 0.055155
+v -0.193913 0.012356 -0.008407
+v -0.193913 0.012356 0.070288
+v -0.208638 0.045078 0.006727
+v -0.270482 0.012356 -0.008407
+v -0.255757 0.045078 0.055155
+v -0.270482 0.012356 0.070288
+v -0.255757 0.045078 0.006727
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4460aeebd6db822dc0fc488fe80bdbfcb320b037
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-82.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 82
+mtllib original-82.mtl
+o Key1_4_16/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.750433 0.045078 0.212546
+v 0.764067 0.012356 0.148984
+v 0.764067 0.012356 0.227680
+v 0.750433 0.045078 0.164118
+v 0.693171 0.012356 0.148984
+v 0.706805 0.045078 0.212546
+v 0.693171 0.012356 0.227680
+v 0.706805 0.045078 0.164118
+vn -0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430661
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 -0.41977713173590414 0.907627214043066
+vn 0 0.41977713173590414 -0.907627214043066
+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
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+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..59d3b069893f71f6466e423cd97f57aae4453792
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-83.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o Key1_1_36/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.055501 0.045078 0.055155
+v -0.040776 0.012356 -0.008407
+v -0.040776 0.012356 0.070288
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+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4baf135a7425984e2d7a09ee782445c110a38572
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-84.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o Group_2_8/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.538472 0.012356 0.070288
+v -0.523747 0.045078 0.133850
+v -0.538472 0.012356 0.148984
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+v -0.476628 0.045078 0.133850
+v -0.461903 0.012356 0.070288
+vn 0.9119216715391062 -0.41036430763081994 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 1 0
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 -1 0
+vn -0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 2//2 5//2 3//2
+f 5//3 1//3 3//3
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+usemtl material_1_0
+f 3//7 2//7 1//7
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+f 7//3 6//3 2//3
+f 5//10 8//10 7//10
+f 6//10 7//10 8//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6e9964c2925708a25e56d83f720659e2e3e45e6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-85.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o Key1_1_37/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.093785 0.045078 0.133850
+v -0.079060 0.012356 0.070288
+v -0.079060 0.012356 0.148984
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+v -0.155629 0.012356 0.148984
+v -0.140904 0.045078 0.085422
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d98ccfbe6f45c5242ea0e79a383f9bd63c25681c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-86.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o Key1_1_38/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.782902 0.045078 -0.023541
+v -0.768178 0.012356 -0.087103
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+vn 0 1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
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+f 1//1 2//1 3//1
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+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b104d97f6742789e7b177e8d5983dc79407a761
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-87.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o Key1_1_39/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.553197 0.045078 -0.023541
+v -0.538472 0.012356 -0.087103
+v -0.538472 0.012356 -0.008407
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+v -0.615041 0.012356 -0.008407
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+vn -0.9119216715391062 -0.41036430763081994 0
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+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2bb765a781d596a5e63bb626d9d24ac1d640aa0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-88.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o Key1_4_17/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.679537 0.045078 0.133850
+v 0.693171 0.012356 0.070288
+v 0.693171 0.012356 0.148984
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+v 0.635908 0.045078 0.085422
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+vn 0 1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//2 2//2 1//2
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40b77da57e4f4a02b925ec8527898debefeba3fe
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-89.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o Key1_3_11/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v 0.063279 0.045078 -0.211199
+v 0.076913 0.012356 -0.274761
+v 0.076913 0.012356 -0.196066
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+v 0.006016 0.012356 -0.196066
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+vn 0 1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
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+f 5//5 4//5 8//5
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+f 6//6 5//6 8//6
+usemtl material_1_0
+f 3//7 2//7 1//7
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+f 8//9 4//9 5//9
+f 7//10 6//10 5//10
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c09ce7eccd6f4ef1d799241f448e21b6b393457
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..45028a498a891df1701880f9ff7bd3ad8f585f2b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-9.obj
@@ -0,0 +1,85 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o Group9/mesh9/mesh9-geometry#mesh9-geometry
+v 0.211017 0.045078 0.006727
+v 0.281696 0.012356 0.006727
+v 0.211017 0.012356 0.006727
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+v 0.303783 0.012356 -0.008407
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+v 0.188930 0.012356 -0.008407
+v 0.303783 0.012356 0.070288
+v 0.211017 0.045078 0.055155
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+v 0.188930 0.012356 0.070288
+vn 0 0 -1
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+vn 0.8655179224461356 -0.5008779551193338 0
+vn 0 -0.3514318059358958 -0.9362134830136953
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//3 7//3 4//3
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+f 7//5 2//5 4//5
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+f 8//3 3//3 5//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b3269f74887d915b000146545004b9300ec0e0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-90.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
+o Key1_1_40/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.323491 0.045078 -0.023541
+v -0.308766 0.012356 -0.087103
+v -0.308766 0.012356 -0.008407
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+v -0.385335 0.012356 -0.087103
+v -0.370610 0.045078 -0.023541
+v -0.385335 0.012356 -0.008407
+v -0.370610 0.045078 -0.071969
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca658d98c2d9d45de31de23155cf7f576b79d23e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-91.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
+o Key1_1_41/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.285206 0.045078 0.055155
+v -0.270482 0.012356 -0.008407
+v -0.270482 0.012356 0.070288
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+v -0.332326 0.045078 0.055155
+v -0.347050 0.012356 0.070288
+v -0.332326 0.045078 0.006727
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
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+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
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+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
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+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a49fcd695d4346d26550cf6d9cdc5e8f156ed58
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-92.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
+o Key1_4_18/Key1_4/mesh11/mesh11-geometry#mesh11-geometry
+v 0.395949 0.045078 -0.211199
+v 0.409583 0.012356 -0.274761
+v 0.409583 0.012356 -0.196066
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+v 0.352320 0.045078 -0.211199
+v 0.338686 0.012356 -0.196066
+v 0.352320 0.045078 -0.259627
+vn -0.9230770710058602 -0.384615029585743 0
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+vn 0 0.4197771317359037 0.9076272140430661
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+vn 0.9230770710058602 -0.384615029585743 0
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0a42d647751b120eee401f6f2b7485ce3a4c5ed7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-93.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 93
+mtllib original-93.mtl
+o Key1_3_12/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v 0.205073 0.045078 -0.211199
+v 0.218707 0.012356 -0.274761
+v 0.218707 0.012356 -0.196066
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+v 0.147810 0.012356 -0.196066
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+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0 -1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61198a48b34d89df583772c4037226d66869ab00
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16efc684e3dad069f39c80b92f14e27ee6be7779
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-94.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o Group_4_1/Group_4/mesh16/mesh16-geometry#mesh16-geometry
+v -0.721059 0.045078 0.133850
+v -0.691609 0.012356 0.070288
+v -0.691609 0.012356 0.148984
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+vn -0.7432942328457914 -0.6689646354017426 0
+vn 0 1 0
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+vn 0.7432942328457914 -0.6689646354017426 0
+vn 0.7432942328457914 0.6689646354017426 0
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+vn 0 0.41977713173590403 -0.907627214043066
+vn -0.7432942328457914 0.6689646354017426 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 2//3 3//3 5//3
+f 3//4 6//4 1//4
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+f 5//5 4//5 8//5
+f 5//6 6//6 7//6
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f836927d8a748ed63cefe609a2891b409435cca
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-95.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
+o Key1_1_42/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.438344 0.045078 0.212546
+v -0.423619 0.012356 0.148984
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+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
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+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
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+f 1//6 6//6 3//6
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+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f38832cd5d33529efd170616f723b285f40d7a67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.5490196078431373 0.1411764705882353 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..865f64540404ed906913f885519fae2a7fbb237c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-96.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 96
+mtllib original-96.mtl
+o Key1_3_13/Key1_3/mesh13/mesh13-geometry#mesh13-geometry
+v -0.133051 0.045078 -0.211199
+v -0.119417 0.012356 -0.274761
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+v -0.190314 0.012356 -0.196066
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+vn -0.9230770710058602 -0.384615029585743 0
+vn 0 1 0
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+vn 0.9230770710058602 -0.384615029585743 0
+vn 0.9230770710058602 0.384615029585743 0
+vn 0 0.4197771317359037 0.9076272140430661
+vn 0 0.41977713173590414 -0.907627214043066
+vn -0.9230770710058602 0.384615029585743 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 5//2 3//2 2//2
+f 3//3 6//3 1//3
+f 6//4 4//4 1//4
+f 4//5 5//5 2//5
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+usemtl material_1_0
+f 3//7 2//7 1//7
+f 4//7 1//7 2//7
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+f 1//2 4//2 6//2
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+f 8//2 6//2 4//2
+f 8//9 4//9 5//9
+f 7//10 6//10 5//10
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e8e103ad301ab0602e2606a3c5ad3dcb09b5cea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-97.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 97
+mtllib original-97.mtl
+o Key1_1_43/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.055501 0.045078 0.212546
+v -0.040776 0.012356 0.148984
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+v -0.102620 0.045078 0.164118
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
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+vn 0 0.4197771317359037 0.9076272140430662
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+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
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+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4007b22cc43f9f6c4bbf12f95b301393102e8317
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 0.4745098039215686 0.4745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17ab0c3d51fec5994daff2a8e8f7910255fe2f7f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-98.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 98
+mtllib original-98.mtl
+o Group_2_9/Group_2/mesh15/mesh15-geometry#mesh15-geometry
+v -0.576756 0.012356 -0.008407
+v -0.562031 0.045078 0.055155
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+vn -0.9119216715391062 0.41036430763081994 0
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+vn 0.9119216715391062 0.41036430763081994 0
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+f 1//1 2//1 3//1
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+usemtl material_1_0
+f 3//7 2//7 1//7
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diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.mtl b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.13725490196078433 0.13725490196078433 0.13725490196078433 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.obj b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83129b5727f2ae927281e1d2e44891a8c386981c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/textured_objs/original-99.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 99
+mtllib original-99.mtl
+o Key1_1_44/Key1_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.132069 0.045078 0.212546
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+v -0.179188 0.045078 0.164118
+vn -0.9119216715391062 -0.41036430763081994 0
+vn 0.9119216715391062 0.41036430763081994 0
+vn 0 1 0
+vn 0 -1 0
+vn 0 -0.4197771317359037 -0.9076272140430662
+vn 0 0.4197771317359037 0.9076272140430662
+vn 0 -0.41977713173590403 0.907627214043066
+vn 0 0.41977713173590403 -0.907627214043066
+vn 0.9119216715391062 -0.41036430763081994 0
+vn -0.9119216715391062 0.41036430763081994 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//7 5//7 2//7
+f 2//8 5//8 4//8
+f 3//3 5//3 7//3
+f 7//4 5//4 3//4
+f 6//5 3//5 7//5
+f 7//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 5//7 4//7 8//7
+f 8//8 4//8 5//8
+f 5//9 6//9 7//9
+f 7//10 6//10 5//10
+f 6//9 5//9 8//9
+f 8//10 5//10 6//10
diff --git a/data/PartNet-Mobility/Keyboard/12738/tree_hier.html b/data/PartNet-Mobility/Keyboard/12738/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..19e5a0c7117d31ae436240d3b8a0569d0f10cf91
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame Frame</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key Key</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key Key</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key Key</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key Key</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key Key</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key Key</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key Key</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key Key</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key Key</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key Key</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key Key</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key Key</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key Key</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key Key</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key Key</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key Key</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key Key</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key Key</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key Key</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key Key</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key Key</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key Key</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key Key</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key Key</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key Key</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key Key</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key Key</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key Key</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key Key</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key Key</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key Key</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key Key</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key Key</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key Key</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key Key</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key Key</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key Key</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key Key</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key Key</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key Key</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key Key</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key Key</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key Key</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key Key</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key Key</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key Key</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key Key</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key Key</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key Key</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key Key</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key Key</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key Key</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key Key</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key Key</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key Key</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key Key</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key Key</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key Key</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key Key</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key Key</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key Key</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key Key</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key Key</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key Key</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key Key</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key Key</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key Key</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key Key</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key Key</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key Key</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key Key</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key Key</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key Key</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key Key</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key Key</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key Key</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key Key</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key Key</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key Key</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key Key</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key Key</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key Key</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key Key</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key Key</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key Key</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key Key</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key Key</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key Key</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key Key</p><a href="parts_render/90.png"><img src="parts_render/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key Key</p><a href="parts_render/91.png"><img src="parts_render/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key Key</p><a href="parts_render/92.png"><img src="parts_render/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key Key</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key Key</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key Key</p><a href="parts_render/95.png"><img src="parts_render/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key Key</p><a href="parts_render/96.png"><img src="parts_render/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key Key</p><a href="parts_render/97.png"><img src="parts_render/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key Key</p><a href="parts_render/98.png"><img src="parts_render/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key Key</p><a href="parts_render/99.png"><img src="parts_render/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key Key</p><a href="parts_render/100.png"><img src="parts_render/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key Key</p><a href="parts_render/101.png"><img src="parts_render/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key Key</p><a href="parts_render/102.png"><img src="parts_render/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key Key</p><a href="parts_render/103.png"><img src="parts_render/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key Key</p><a href="parts_render/104.png"><img src="parts_render/104.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12738/tree_hier_after_merging.html b/data/PartNet-Mobility/Keyboard/12738/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..e3abf49d4b618a7f5197a9a0f558b74193448c97
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12738/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame frame</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key key</p><a href="parts_render_after_merging/79.png"><img src="parts_render_after_merging/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key key</p><a href="parts_render_after_merging/80.png"><img src="parts_render_after_merging/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key key</p><a href="parts_render_after_merging/81.png"><img src="parts_render_after_merging/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key key</p><a href="parts_render_after_merging/82.png"><img src="parts_render_after_merging/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key key</p><a href="parts_render_after_merging/83.png"><img src="parts_render_after_merging/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key key</p><a href="parts_render_after_merging/84.png"><img src="parts_render_after_merging/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key key</p><a href="parts_render_after_merging/85.png"><img src="parts_render_after_merging/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key key</p><a href="parts_render_after_merging/86.png"><img src="parts_render_after_merging/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key key</p><a href="parts_render_after_merging/87.png"><img src="parts_render_after_merging/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key key</p><a href="parts_render_after_merging/88.png"><img src="parts_render_after_merging/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key key</p><a href="parts_render_after_merging/89.png"><img src="parts_render_after_merging/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key key</p><a href="parts_render_after_merging/90.png"><img src="parts_render_after_merging/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key key</p><a href="parts_render_after_merging/91.png"><img src="parts_render_after_merging/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key key</p><a href="parts_render_after_merging/92.png"><img src="parts_render_after_merging/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key key</p><a href="parts_render_after_merging/93.png"><img src="parts_render_after_merging/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key key</p><a href="parts_render_after_merging/94.png"><img src="parts_render_after_merging/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key key</p><a href="parts_render_after_merging/95.png"><img src="parts_render_after_merging/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key key</p><a href="parts_render_after_merging/96.png"><img src="parts_render_after_merging/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key key</p><a href="parts_render_after_merging/97.png"><img src="parts_render_after_merging/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key key</p><a href="parts_render_after_merging/98.png"><img src="parts_render_after_merging/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key key</p><a href="parts_render_after_merging/99.png"><img src="parts_render_after_merging/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key key</p><a href="parts_render_after_merging/100.png"><img src="parts_render_after_merging/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key key</p><a href="parts_render_after_merging/101.png"><img src="parts_render_after_merging/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key key</p><a href="parts_render_after_merging/102.png"><img src="parts_render_after_merging/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key key</p><a href="parts_render_after_merging/103.png"><img src="parts_render_after_merging/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key key</p><a href="parts_render_after_merging/104.png"><img src="parts_render_after_merging/104.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12829/bounding_box.json b/data/PartNet-Mobility/Keyboard/12829/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef0da06b6ffbdd5bb1df2de63fc12477af57157d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12829/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.957789, -0.036469, -0.274242], "max": [0.89783, 0.055116, 0.310744]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12829/meta.json b/data/PartNet-Mobility/Keyboard/12829/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9fb87910e3fb62c6338edf472d9bc6fdb78f0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12829/meta.json
@@ -0,0 +1 @@
+{"model_id": "15af4a391c2745254c9f767e6842a3d3", "anno_id": "12829", "user_id": "yz-majinghua", "time_in_sec": "113", "version": "2", "model_cat": "Keyboard"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12829/mobility.urdf b/data/PartNet-Mobility/Keyboard/12829/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d1ffe09041988c66caf6298460a9f15ebdf5bb8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12829/mobility.urdf
@@ -0,0 +1,1808 @@
+<?xml version="1.0" ?>
+<robot name="partnet_15af4a391c2745254c9f767e6842a3d3">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="key-2">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_0"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_1">
+		<visual name="key-3">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_1"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_2">
+		<visual name="key-4">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_2"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_3">
+		<visual name="key-5">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_3"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_4">
+		<visual name="key-6">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_4"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_5">
+		<visual name="key-7">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_5"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_6">
+		<visual name="key-8">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_6"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_7">
+		<visual name="key-9">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_7"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_8">
+		<visual name="key-10">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_8"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_9">
+		<visual name="key-11">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_9"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_10">
+		<visual name="key-12">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_10"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_11">
+		<visual name="key-13">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_11"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_12">
+		<visual name="key-14">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_12"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_13">
+		<visual name="key-15">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_13"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_14">
+		<visual name="key-16">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_14"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_15">
+		<visual name="key-17">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_15"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_16">
+		<visual name="key-18">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_16"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_17">
+		<visual name="key-19">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_17"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_18">
+		<visual name="key-20">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_18"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_19">
+		<visual name="key-21">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_19"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_20">
+		<visual name="key-22">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_20"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_21">
+		<visual name="key-23">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_21"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-24">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_22"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-25">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_23"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-26">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_24"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-27">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_25"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-28">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_26" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_26"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-29">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_27" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_27"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-30">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_28" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_28"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-31">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_29" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_29"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_30">
+		<visual name="key-32">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_30" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_30"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_31">
+		<visual name="key-33">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_31" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_31"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_32">
+		<visual name="key-34">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_32" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_32"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_33">
+		<visual name="key-35">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_33" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_33"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_34">
+		<visual name="key-36">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_34" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_34"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_35">
+		<visual name="key-37">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_35"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_36">
+		<visual name="key-38">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_36"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_37">
+		<visual name="key-39">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_37"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_38">
+		<visual name="key-40">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_38"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-41">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_39" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_39"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-42">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_40" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_40"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_41">
+		<visual name="key-43">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_41" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_41"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_42">
+		<visual name="key-44">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_42" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_42"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_43">
+		<visual name="key-45">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_43" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_43"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_44">
+		<visual name="key-46">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_44" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_44"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_45">
+		<visual name="key-47">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_45" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_45"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_46">
+		<visual name="key-48">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_46" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_46"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_47">
+		<visual name="key-49">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_47" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_47"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-50">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_48" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_48"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-51">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_49" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_49"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-52">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_50" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_50"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_51">
+		<visual name="key-53">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_51" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_51"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_52">
+		<visual name="key-54">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_52" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_52"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_53">
+		<visual name="key-55">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_53" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_53"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_54">
+		<visual name="key-56">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_54" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_54"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_55">
+		<visual name="key-57">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_55" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_55"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_56">
+		<visual name="key-58">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_56" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_56"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_57">
+		<visual name="key-59">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_57" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_57"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_58">
+		<visual name="key-60">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_58" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_58"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_59">
+		<visual name="key-61">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_59" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_59"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-62">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_60" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_60"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_61">
+		<visual name="key-63">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_61" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_61"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_62">
+		<visual name="key-64">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_62" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_62"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_63">
+		<visual name="key-65">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_63" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_63"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_64">
+		<visual name="key-66">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_64" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_64"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_65">
+		<visual name="key-67">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_65" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_65"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_66">
+		<visual name="key-68">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_66" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_66"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_67">
+		<visual name="key-69">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_67" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_67"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_68">
+		<visual name="key-70">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_68" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_68"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_69">
+		<visual name="key-71">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_69" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_69"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_70">
+		<visual name="key-72">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_70" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_70"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_71">
+		<visual name="key-73">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_71" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_71"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_72">
+		<visual name="key-74">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_72" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_72"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_73">
+		<visual name="key-75">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_73" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_73"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_74">
+		<visual name="key-76">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_74" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_74"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_75">
+		<visual name="key-77">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_75" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_75"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_76">
+		<visual name="key-78">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_76" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_76"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_77">
+		<visual name="key-79">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_77" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_77"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_78">
+		<visual name="key-80">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_78" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_78"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_79">
+		<visual name="key-81">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_79" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_79"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_80">
+		<visual name="frame-82">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_80" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_80"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_81">
+		<visual name="key-83">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_81"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_82">
+		<visual name="key-84">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_82" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_82"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_83">
+		<visual name="key-85">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_83" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_83"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_84">
+		<visual name="key-86">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_84" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_84"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_85">
+		<visual name="key-87">
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.07233192637888752 -0.03530729181448233 -0.030416714097514674"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_85" type="prismatic">
+		<origin xyz="0.07233192637888752 0.03530729181448233 0.030416714097514674"/>
+		<axis xyz="0 -0.9974588397321814 -0.07124509134060088"/>
+		<child link="link_85"/>
+		<parent link="link_80"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Keyboard/12829/mobility_v2.json b/data/PartNet-Mobility/Keyboard/12829/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d102b098067d3ed0e60e288db016344a183cb442
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12829/mobility_v2.json
@@ -0,0 +1 @@
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