diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aaf06e2065946339ee0ddab042a7a5ecf0626317
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-152.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 152
+mtllib original-152.mtl
+o mesh152/mesh152-geometry#mesh152-geometry
+v -0.103927 -0.322928 0.344718
+v -0.109153 -0.322928 0.344718
+v -0.106540 -0.322928 0.345424
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+v -0.103927 -0.322928 0.335769
+v -0.102072 -0.322928 0.337630
+v -0.101360 -0.322928 0.340243
+v -0.102072 -0.322928 0.342857
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 10//1 1//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14e1ec9e348909d257b873be28896f200d16b45d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-153.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 153
+mtllib original-153.mtl
+o mesh153/mesh153-geometry#mesh153-geometry
+v -0.127279 -0.322928 0.344718
+v -0.132505 -0.322928 0.344718
+v -0.129892 -0.322928 0.345424
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+v -0.134361 -0.322928 0.337630
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+v -0.127279 -0.322928 0.335769
+v -0.125418 -0.322928 0.337630
+v -0.124712 -0.322928 0.340243
+v -0.125418 -0.322928 0.342857
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ea48562b1f63e63886201e2d066ab26b96c91e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-154.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 154
+mtllib original-154.mtl
+o mesh154/mesh154-geometry#mesh154-geometry
+v -0.152113 -0.322928 0.344718
+v -0.157339 -0.322928 0.344718
+v -0.154726 -0.322928 0.345424
+v -0.159200 -0.322928 0.342857
+v -0.159907 -0.322928 0.340243
+v -0.159200 -0.322928 0.337630
+v -0.157339 -0.322928 0.335769
+v -0.154726 -0.322928 0.335063
+v -0.152113 -0.322928 0.335769
+v -0.150258 -0.322928 0.337630
+v -0.149546 -0.322928 0.340243
+v -0.150258 -0.322928 0.342857
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b84df9ce74c3a8075c1ed4cb78b8fc946bdfac02
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-155.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 155
+mtllib original-155.mtl
+o mesh155/mesh155-geometry#mesh155-geometry
+v -0.152113 -0.322928 0.364819
+v -0.157339 -0.322928 0.364819
+v -0.154726 -0.322928 0.365526
+v -0.159200 -0.322928 0.362958
+v -0.159907 -0.322928 0.360345
+v -0.159200 -0.322928 0.357732
+v -0.157339 -0.322928 0.355877
+v -0.154726 -0.322928 0.355165
+v -0.152113 -0.322928 0.355877
+v -0.150258 -0.322928 0.357732
+v -0.149546 -0.322928 0.360345
+v -0.150258 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dad310fc60a0d8f671f22e36fe86a13251c1888d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-156.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 156
+mtllib original-156.mtl
+o mesh156/mesh156-geometry#mesh156-geometry
+v -0.127279 -0.322928 0.364819
+v -0.132505 -0.322928 0.364819
+v -0.129892 -0.322928 0.365526
+v -0.134361 -0.322928 0.362958
+v -0.135073 -0.322928 0.360345
+v -0.134361 -0.322928 0.357732
+v -0.132505 -0.322928 0.355877
+v -0.129892 -0.322928 0.355165
+v -0.127279 -0.322928 0.355877
+v -0.125418 -0.322928 0.357732
+v -0.124712 -0.322928 0.360345
+v -0.125418 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d99f12caa0b8e05de1547fe6a1fe8f9978beba9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-157.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 157
+mtllib original-157.mtl
+o mesh157/mesh157-geometry#mesh157-geometry
+v -0.103927 -0.322928 0.364819
+v -0.109153 -0.322928 0.364819
+v -0.106540 -0.322928 0.365526
+v -0.111014 -0.322928 0.362958
+v -0.111720 -0.322928 0.360345
+v -0.111014 -0.322928 0.357732
+v -0.109153 -0.322928 0.355877
+v -0.106540 -0.322928 0.355165
+v -0.103927 -0.322928 0.355877
+v -0.102072 -0.322928 0.357732
+v -0.101360 -0.322928 0.360345
+v -0.102072 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbaed57365d394b9390059ecaf790dfab8065cb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-158.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 158
+mtllib original-158.mtl
+o mesh158/mesh158-geometry#mesh158-geometry
+v -0.080580 -0.322928 0.364819
+v -0.085807 -0.322928 0.364819
+v -0.083194 -0.322928 0.365526
+v -0.087668 -0.322928 0.362958
+v -0.088374 -0.322928 0.360345
+v -0.087668 -0.322928 0.357732
+v -0.085807 -0.322928 0.355877
+v -0.083194 -0.322928 0.355165
+v -0.080580 -0.322928 0.355877
+v -0.078720 -0.322928 0.357732
+v -0.078013 -0.322928 0.360345
+v -0.078720 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 1//1 5//1 4//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef8a3386978fb99823e5989b5d3d49bba967a789
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-159.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 159
+mtllib original-159.mtl
+o mesh159/mesh159-geometry#mesh159-geometry
+v -0.080580 -0.322928 0.384926
+v -0.085807 -0.322928 0.384926
+v -0.083194 -0.322928 0.385633
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+v -0.088374 -0.322928 0.380452
+v -0.087668 -0.322928 0.377839
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+v -0.080580 -0.322928 0.375978
+v -0.078720 -0.322928 0.377839
+v -0.078013 -0.322928 0.380452
+v -0.078720 -0.322928 0.383065
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//1 4//1 2//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad0ea3dbd3818902a61bf1dfcba7068ea70790a2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-16.obj
@@ -0,0 +1,419 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
+v 0.233991 0.372056 0.557708
+v 0.233991 0.372056 0.560711
+v 0.234485 0.368622 0.557708
+v 0.232550 0.375208 0.560711
+v 0.234485 0.368622 0.560711
+v 0.232550 0.375208 0.557708
+v 0.233009 0.371764 0.561860
+v 0.233463 0.368622 0.561860
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ec7045835aa09c93e345aec8a29981d9340b4cc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-160.obj
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+# SSTK version 0.8.0
+# 160
+mtllib original-160.mtl
+o mesh160/mesh160-geometry#mesh160-geometry
+v -0.080580 -0.322928 0.412138
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+v -0.083194 -0.322928 0.412845
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+v -0.080580 -0.322928 0.403190
+v -0.078720 -0.322928 0.405051
+v -0.078013 -0.322928 0.407664
+v -0.078720 -0.322928 0.410277
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+f 11//1 1//1 12//1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14f92bb441b62af8c1773cf3fd52a2f92679d8c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-161.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 161
+mtllib original-161.mtl
+o mesh161/mesh161-geometry#mesh161-geometry
+v -0.080580 -0.322928 0.439350
+v -0.085807 -0.322928 0.439350
+v -0.083194 -0.322928 0.440056
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+v -0.080580 -0.322928 0.430402
+v -0.078720 -0.322928 0.432262
+v -0.078013 -0.322928 0.434876
+v -0.078720 -0.322928 0.437489
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d0b117fd44ceebb62b0f536051de76ce84e8b5de
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-162.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 162
+mtllib original-162.mtl
+o mesh162/mesh162-geometry#mesh162-geometry
+v -0.080580 -0.322928 0.459451
+v -0.085807 -0.322928 0.459451
+v -0.083194 -0.322928 0.460158
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+v -0.088374 -0.322928 0.454977
+v -0.087668 -0.322928 0.452364
+v -0.085807 -0.322928 0.450509
+v -0.083194 -0.322928 0.449797
+v -0.080580 -0.322928 0.450509
+v -0.078720 -0.322928 0.452364
+v -0.078013 -0.322928 0.454977
+v -0.078720 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ffee6c207345609984bd5e03c750f5c1d3b1f2d0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-163.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 163
+mtllib original-163.mtl
+o mesh163/mesh163-geometry#mesh163-geometry
+v -0.103927 -0.322928 0.459451
+v -0.109153 -0.322928 0.459451
+v -0.106540 -0.322928 0.460158
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+v -0.102072 -0.322928 0.452364
+v -0.101360 -0.322928 0.454977
+v -0.102072 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91f0ae38aed551312e0459f5e5060a67039fce1a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-164.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 164
+mtllib original-164.mtl
+o mesh164/mesh164-geometry#mesh164-geometry
+v -0.103927 -0.322928 0.439350
+v -0.109153 -0.322928 0.439350
+v -0.106540 -0.322928 0.440056
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+v -0.103927 -0.322928 0.430402
+v -0.102072 -0.322928 0.432262
+v -0.101360 -0.322928 0.434876
+v -0.102072 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de95cd77e43984f2b1bbf6ca9799932bb9a1866
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-165.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 165
+mtllib original-165.mtl
+o mesh165/mesh165-geometry#mesh165-geometry
+v -0.103927 -0.322928 0.412138
+v -0.109153 -0.322928 0.412138
+v -0.106540 -0.322928 0.412845
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+v -0.111720 -0.322928 0.407664
+v -0.111014 -0.322928 0.405051
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+v -0.103927 -0.322928 0.403190
+v -0.102072 -0.322928 0.405051
+v -0.101360 -0.322928 0.407664
+v -0.102072 -0.322928 0.410277
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 1//1 6//1 5//1
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+f 11//1 10//1 1//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb0576bf9f5e56059995bbee858304942919f275
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-166.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 166
+mtllib original-166.mtl
+o mesh166/mesh166-geometry#mesh166-geometry
+v -0.103927 -0.322928 0.384926
+v -0.109153 -0.322928 0.384926
+v -0.106540 -0.322928 0.385633
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+v -0.111720 -0.322928 0.380452
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+v -0.103927 -0.322928 0.375978
+v -0.102072 -0.322928 0.377839
+v -0.101360 -0.322928 0.380452
+v -0.102072 -0.322928 0.383065
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3801217acfa14fbfebadb27e96d022c680e24f19
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-167.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 167
+mtllib original-167.mtl
+o mesh167/mesh167-geometry#mesh167-geometry
+v -0.127279 -0.322928 0.384926
+v -0.132505 -0.322928 0.384926
+v -0.129892 -0.322928 0.385633
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+v -0.135073 -0.322928 0.380452
+v -0.134361 -0.322928 0.377839
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+v -0.129892 -0.322928 0.375272
+v -0.127279 -0.322928 0.375978
+v -0.125418 -0.322928 0.377839
+v -0.124712 -0.322928 0.380452
+v -0.125418 -0.322928 0.383065
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//1 4//1 2//1
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+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..966044017a5b6ea6de2c908a771fce3aa9a3e915
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-168.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 168
+mtllib original-168.mtl
+o mesh168/mesh168-geometry#mesh168-geometry
+v -0.152113 -0.322928 0.384926
+v -0.157339 -0.322928 0.384926
+v -0.154726 -0.322928 0.385633
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+v -0.149546 -0.322928 0.380452
+v -0.150258 -0.322928 0.383065
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..797a8ce3746e6bbae55d7e4ba23d6165b50e03ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-169.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..511bebed4d3df63dd2ab5d737b053e9801268e0f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bc6ea10283c9511ed9b838f7b6e330d6f48a974
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-170.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 170
+mtllib original-170.mtl
+o mesh170/mesh170-geometry#mesh170-geometry
+v -0.127279 -0.322928 0.412138
+v -0.132505 -0.322928 0.412138
+v -0.129892 -0.322928 0.412845
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+v -0.127279 -0.322928 0.403190
+v -0.125418 -0.322928 0.405051
+v -0.124712 -0.322928 0.407664
+v -0.125418 -0.322928 0.410277
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..28d5f482854e65becb311a30ea6778d0e76f9b87
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-171.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 171
+mtllib original-171.mtl
+o mesh171/mesh171-geometry#mesh171-geometry
+v -0.127279 -0.322928 0.439350
+v -0.132505 -0.322928 0.439350
+v -0.129892 -0.322928 0.440056
+v -0.134361 -0.322928 0.437489
+v -0.135073 -0.322928 0.434876
+v -0.134361 -0.322928 0.432262
+v -0.132505 -0.322928 0.430402
+v -0.129892 -0.322928 0.429695
+v -0.127279 -0.322928 0.430402
+v -0.125418 -0.322928 0.432262
+v -0.124712 -0.322928 0.434876
+v -0.125418 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 11//1 10//1 1//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f35c92393c2210d0cbe0f23ea4fdd3e8a83cf06c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-172.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 172
+mtllib original-172.mtl
+o mesh172/mesh172-geometry#mesh172-geometry
+v -0.152113 -0.322928 0.439350
+v -0.157339 -0.322928 0.439350
+v -0.154726 -0.322928 0.440056
+v -0.159200 -0.322928 0.437489
+v -0.159907 -0.322928 0.434876
+v -0.159200 -0.322928 0.432262
+v -0.157339 -0.322928 0.430402
+v -0.154726 -0.322928 0.429695
+v -0.152113 -0.322928 0.430402
+v -0.150258 -0.322928 0.432262
+v -0.149546 -0.322928 0.434876
+v -0.150258 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8299e0ab6a1cc2ee4913f0dea6f16202f0bf7a3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-173.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 173
+mtllib original-173.mtl
+o mesh173/mesh173-geometry#mesh173-geometry
+v -0.152113 -0.322928 0.459451
+v -0.157339 -0.322928 0.459451
+v -0.154726 -0.322928 0.460158
+v -0.159200 -0.322928 0.457590
+v -0.159907 -0.322928 0.454977
+v -0.159200 -0.322928 0.452364
+v -0.157339 -0.322928 0.450509
+v -0.154726 -0.322928 0.449797
+v -0.152113 -0.322928 0.450509
+v -0.150258 -0.322928 0.452364
+v -0.149546 -0.322928 0.454977
+v -0.150258 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b32aa0a3682f37da8cc6c2e58b4c9fdccda5c08
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-174.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 174
+mtllib original-174.mtl
+o mesh174/mesh174-geometry#mesh174-geometry
+v -0.127279 -0.322928 0.459451
+v -0.132505 -0.322928 0.459451
+v -0.129892 -0.322928 0.460158
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+v -0.124712 -0.322928 0.454977
+v -0.125418 -0.322928 0.457590
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a765fd58a5707d127f6107f189ec732a1b7707b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-175.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 175
+mtllib original-175.mtl
+o mesh175/mesh175-geometry#mesh175-geometry
+v -0.053288 -0.322928 0.480782
+v -0.058520 -0.322928 0.480782
+v -0.055901 -0.322928 0.481488
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+v -0.061082 -0.322928 0.476308
+v -0.060375 -0.322928 0.473695
+v -0.058520 -0.322928 0.471840
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+v -0.053288 -0.322928 0.471840
+v -0.051433 -0.322928 0.473695
+v -0.050721 -0.322928 0.476308
+v -0.051433 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.obj
new file mode 100644
index 0000000000000000000000000000000000000000..679ae80cc9ca1aafd948c12e67fd885fe8487f29
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-176.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 176
+mtllib original-176.mtl
+o mesh176/mesh176-geometry#mesh176-geometry
+v -0.025881 -0.322928 0.480782
+v -0.031108 -0.322928 0.480782
+v -0.028494 -0.322928 0.481488
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+v -0.033675 -0.322928 0.476308
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+v -0.031108 -0.322928 0.471840
+v -0.028494 -0.322928 0.471127
+v -0.025881 -0.322928 0.471840
+v -0.024020 -0.322928 0.473695
+v -0.023314 -0.322928 0.476308
+v -0.024020 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13fa9fc1378dbf3252fb17f4acc45a536afeef64
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-177.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 177
+mtllib original-177.mtl
+o mesh177/mesh177-geometry#mesh177-geometry
+v -0.000123 -0.322928 0.480782
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3f50ec78eb579e05c1688fa4d66d1a6786b40c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-178.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 178
+mtllib original-178.mtl
+o mesh178/mesh178-geometry#mesh178-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.obj
new file mode 100644
index 0000000000000000000000000000000000000000..145e521f204b02f97b16ab2357d39433471fb88f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-179.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 179
+mtllib original-179.mtl
+o mesh179/mesh179-geometry#mesh179-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1909e742f21d5b15bc6fa2306ef11ef54ebcb57d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-18.obj
@@ -0,0 +1,1069 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ec7c265c622f7e41c761725f39cfaf80ebd7b4e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-180.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 180
+mtllib original-180.mtl
+o mesh180/mesh180-geometry#mesh180-geometry
+v 0.075574 -0.322928 0.480782
+v 0.070348 -0.322928 0.480782
+v 0.072961 -0.322928 0.481488
+v 0.068487 -0.322928 0.478921
+v 0.067780 -0.322928 0.476308
+v 0.068487 -0.322928 0.473695
+v 0.070348 -0.322928 0.471840
+v 0.072961 -0.322928 0.471127
+v 0.075574 -0.322928 0.471840
+v 0.077429 -0.322928 0.473695
+v 0.078141 -0.322928 0.476308
+v 0.077429 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9bb13b940f3eb0d1616dcb9f972a43c533e7ae11
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-181.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 181
+mtllib original-181.mtl
+o mesh181/mesh181-geometry#mesh181-geometry
+v 0.100213 -0.322928 0.480782
+v 0.094986 -0.322928 0.480782
+v 0.097600 -0.322928 0.481488
+v 0.093126 -0.322928 0.478921
+v 0.092419 -0.322928 0.476308
+v 0.093126 -0.322928 0.473695
+v 0.094986 -0.322928 0.471840
+v 0.097600 -0.322928 0.471127
+v 0.100213 -0.322928 0.471840
+v 0.102068 -0.322928 0.473695
+v 0.102780 -0.322928 0.476308
+v 0.102068 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bf0a5929b3c9fc2f6c02e6a72490aaaa8e4900b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-182.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 182
+mtllib original-182.mtl
+o mesh182/mesh182-geometry#mesh182-geometry
+v 0.123249 -0.322928 0.480782
+v 0.118023 -0.322928 0.480782
+v 0.120636 -0.322928 0.481488
+v 0.116168 -0.322928 0.478921
+v 0.115456 -0.322928 0.476308
+v 0.116168 -0.322928 0.473695
+v 0.118023 -0.322928 0.471840
+v 0.120636 -0.322928 0.471127
+v 0.123249 -0.322928 0.471840
+v 0.125110 -0.322928 0.473695
+v 0.125816 -0.322928 0.476308
+v 0.125110 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da4cd20fb4c55bb3a500ed3d0dedc75ec57b5210
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-183.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 183
+mtllib original-183.mtl
+o mesh183/mesh183-geometry#mesh183-geometry
+v -0.080580 -0.322928 0.480782
+v -0.085807 -0.322928 0.480782
+v -0.083194 -0.322928 0.481488
+v -0.087668 -0.322928 0.478921
+v -0.088374 -0.322928 0.476308
+v -0.087668 -0.322928 0.473695
+v -0.085807 -0.322928 0.471840
+v -0.083194 -0.322928 0.471127
+v -0.080580 -0.322928 0.471840
+v -0.078720 -0.322928 0.473695
+v -0.078013 -0.322928 0.476308
+v -0.078720 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0125e41b845db7be5991887e38119099c0836b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-184.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 184
+mtllib original-184.mtl
+o mesh184/mesh184-geometry#mesh184-geometry
+v -0.103927 -0.322928 0.480782
+v -0.109153 -0.322928 0.480782
+v -0.106540 -0.322928 0.481488
+v -0.111014 -0.322928 0.478921
+v -0.111720 -0.322928 0.476308
+v -0.111014 -0.322928 0.473695
+v -0.109153 -0.322928 0.471840
+v -0.106540 -0.322928 0.471127
+v -0.103927 -0.322928 0.471840
+v -0.102072 -0.322928 0.473695
+v -0.101360 -0.322928 0.476308
+v -0.102072 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 8//1 7//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a862421ebe2ba1ea1edf9f959fd22174a8c2086f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-185.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 185
+mtllib original-185.mtl
+o mesh185/mesh185-geometry#mesh185-geometry
+v -0.152113 -0.322928 0.480782
+v -0.157339 -0.322928 0.480782
+v -0.154726 -0.322928 0.481488
+v -0.159200 -0.322928 0.478921
+v -0.159907 -0.322928 0.476308
+v -0.159200 -0.322928 0.473695
+v -0.157339 -0.322928 0.471840
+v -0.154726 -0.322928 0.471127
+v -0.152113 -0.322928 0.471840
+v -0.150258 -0.322928 0.473695
+v -0.149546 -0.322928 0.476308
+v -0.150258 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d78015529cf354ee269f61aff7bd4a05a6b9233
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-186.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 186
+mtllib original-186.mtl
+o mesh186/mesh186-geometry#mesh186-geometry
+v -0.127279 -0.322928 0.480782
+v -0.132505 -0.322928 0.480782
+v -0.129892 -0.322928 0.481488
+v -0.134361 -0.322928 0.478921
+v -0.135073 -0.322928 0.476308
+v -0.134361 -0.322928 0.473695
+v -0.132505 -0.322928 0.471840
+v -0.129892 -0.322928 0.471127
+v -0.127279 -0.322928 0.471840
+v -0.125418 -0.322928 0.473695
+v -0.124712 -0.322928 0.476308
+v -0.125418 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 1//1 5//1 4//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb8c0b7dd3adabf71867aca19c54ff254095aa78
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-187.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 187
+mtllib original-187.mtl
+o mesh187/mesh187-geometry#mesh187-geometry
+v -0.204182 -0.322928 0.364819
+v -0.209408 -0.322928 0.364819
+v -0.206795 -0.322928 0.365526
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+v -0.211975 -0.322928 0.360345
+v -0.211269 -0.322928 0.357732
+v -0.209408 -0.322928 0.355877
+v -0.206795 -0.322928 0.355165
+v -0.204182 -0.322928 0.355877
+v -0.202327 -0.322928 0.357732
+v -0.201615 -0.322928 0.360345
+v -0.202327 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a76ca983addb6c75046c822e783200f3057b103d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-188.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 188
+mtllib original-188.mtl
+o mesh188/mesh188-geometry#mesh188-geometry
+v -0.179348 -0.322928 0.364819
+v -0.184574 -0.322928 0.364819
+v -0.181961 -0.322928 0.365526
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+v -0.187141 -0.322928 0.360345
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+v -0.179348 -0.322928 0.355877
+v -0.177487 -0.322928 0.357732
+v -0.176780 -0.322928 0.360345
+v -0.177487 -0.322928 0.362958
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
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+f 11//1 1//1 12//1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00c99f9904dc06291e58feb45405cda86aa7e2c3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-189.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 189
+mtllib original-189.mtl
+o mesh189/mesh189-geometry#mesh189-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8f40ab7ed6db7dab98fad8e991f951d891ef093
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-19.obj
@@ -0,0 +1,1069 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a8ba3cdf0d86639977cdfbbcb8ed25165f65e83
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-190.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 190
+mtllib original-190.mtl
+o mesh190/mesh190-geometry#mesh190-geometry
+v -0.204182 -0.322928 0.384926
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2467bdaaf2eeafd74d4c8f8d16a56bb5d6d88a6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-191.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 191
+mtllib original-191.mtl
+o mesh191/mesh191-geometry#mesh191-geometry
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae746f7d2fefac472b7f5abcec3fa83309a11ee1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-192.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 192
+mtllib original-192.mtl
+o mesh192/mesh192-geometry#mesh192-geometry
+v -0.179348 -0.322928 0.412138
+v -0.184574 -0.322928 0.412138
+v -0.181961 -0.322928 0.412845
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+v -0.179348 -0.322928 0.403190
+v -0.177487 -0.322928 0.405051
+v -0.176780 -0.322928 0.407664
+v -0.177487 -0.322928 0.410277
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3473ae197d07a088ad137d87ca5befea81b613f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-193.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 193
+mtllib original-193.mtl
+o mesh193/mesh193-geometry#mesh193-geometry
+v -0.179348 -0.322928 0.439350
+v -0.184574 -0.322928 0.439350
+v -0.181961 -0.322928 0.440056
+v -0.186429 -0.322928 0.437489
+v -0.187141 -0.322928 0.434876
+v -0.186429 -0.322928 0.432262
+v -0.184574 -0.322928 0.430402
+v -0.181961 -0.322928 0.429695
+v -0.179348 -0.322928 0.430402
+v -0.177487 -0.322928 0.432262
+v -0.176780 -0.322928 0.434876
+v -0.177487 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d373f56537965d5840a0c2a4617239e0a7640105
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-194.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 194
+mtllib original-194.mtl
+o mesh194/mesh194-geometry#mesh194-geometry
+v -0.204182 -0.322928 0.439350
+v -0.209408 -0.322928 0.439350
+v -0.206795 -0.322928 0.440056
+v -0.211269 -0.322928 0.437489
+v -0.211975 -0.322928 0.434876
+v -0.211269 -0.322928 0.432262
+v -0.209408 -0.322928 0.430402
+v -0.206795 -0.322928 0.429695
+v -0.204182 -0.322928 0.430402
+v -0.202327 -0.322928 0.432262
+v -0.201615 -0.322928 0.434876
+v -0.202327 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7560b4421e5e013470a406d0848b09ab88cde997
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-195.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 195
+mtllib original-195.mtl
+o mesh195/mesh195-geometry#mesh195-geometry
+v -0.204182 -0.322928 0.459451
+v -0.209408 -0.322928 0.459451
+v -0.206795 -0.322928 0.460158
+v -0.211269 -0.322928 0.457590
+v -0.211975 -0.322928 0.454977
+v -0.211269 -0.322928 0.452364
+v -0.209408 -0.322928 0.450509
+v -0.206795 -0.322928 0.449797
+v -0.204182 -0.322928 0.450509
+v -0.202327 -0.322928 0.452364
+v -0.201615 -0.322928 0.454977
+v -0.202327 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
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+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..075293f534030f787750f574449a0c56c454c756
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-196.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 196
+mtllib original-196.mtl
+o mesh196/mesh196-geometry#mesh196-geometry
+v -0.179348 -0.322928 0.459451
+v -0.184574 -0.322928 0.459451
+v -0.181961 -0.322928 0.460158
+v -0.186429 -0.322928 0.457590
+v -0.187141 -0.322928 0.454977
+v -0.186429 -0.322928 0.452364
+v -0.184574 -0.322928 0.450509
+v -0.181961 -0.322928 0.449797
+v -0.179348 -0.322928 0.450509
+v -0.177487 -0.322928 0.452364
+v -0.176780 -0.322928 0.454977
+v -0.177487 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
+f 5//2 6//2 1//2
+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8d3f927d58dad6bf363094237cb2f73990dcd0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-197.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 197
+mtllib original-197.mtl
+o mesh197/mesh197-geometry#mesh197-geometry
+v -0.204182 -0.322928 0.480782
+v -0.209408 -0.322928 0.480782
+v -0.206795 -0.322928 0.481488
+v -0.211269 -0.322928 0.478921
+v -0.211975 -0.322928 0.476308
+v -0.211269 -0.322928 0.473695
+v -0.209408 -0.322928 0.471840
+v -0.206795 -0.322928 0.471127
+v -0.204182 -0.322928 0.471840
+v -0.202327 -0.322928 0.473695
+v -0.201615 -0.322928 0.476308
+v -0.202327 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
+f 5//2 6//2 1//2
+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
+f 7//2 8//2 1//2
+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57113ccf58cf1432e37ce03c2d96a87e9d014ad3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-198.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 198
+mtllib original-198.mtl
+o mesh198/mesh198-geometry#mesh198-geometry
+v -0.179348 -0.322928 0.480782
+v -0.184574 -0.322928 0.480782
+v -0.181961 -0.322928 0.481488
+v -0.186429 -0.322928 0.478921
+v -0.187141 -0.322928 0.476308
+v -0.186429 -0.322928 0.473695
+v -0.184574 -0.322928 0.471840
+v -0.181961 -0.322928 0.471127
+v -0.179348 -0.322928 0.471840
+v -0.177487 -0.322928 0.473695
+v -0.176780 -0.322928 0.476308
+v -0.177487 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
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+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b2e00fa752fc004ade2e1e5b117d650dd625921
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-199.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 199
+mtllib original-199.mtl
+o mesh199/mesh199-geometry#mesh199-geometry
+v 0.147337 -0.322928 0.459451
+v 0.142110 -0.322928 0.459451
+v 0.144723 -0.322928 0.460158
+v 0.140255 -0.322928 0.457590
+v 0.139543 -0.322928 0.454977
+v 0.140255 -0.322928 0.452364
+v 0.142110 -0.322928 0.450509
+v 0.144723 -0.322928 0.449797
+v 0.147337 -0.322928 0.450509
+v 0.149197 -0.322928 0.452364
+v 0.149904 -0.322928 0.454977
+v 0.149197 -0.322928 0.457590
+vn 0 1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..600a8dd16ba3368343ee6a6129f399848d610d59
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-2.obj
@@ -0,0 +1,1601 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v -0.019345 0.044290 0.317781
+v -0.019345 -0.166224 0.317781
+v 0.085016 0.044290 0.324788
+v -0.123684 -0.166224 0.324788
+v 0.085016 -0.166224 0.324788
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd25dc244d3972bdbd67faec209acf8f80c9186a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-20.obj
@@ -0,0 +1,1069 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69ed4307ae0715c09472d2c5c8898cb2dce952ba
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-200.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 200
+mtllib original-200.mtl
+o mesh200/mesh200-geometry#mesh200-geometry
+v 0.170379 -0.322928 0.459451
+v 0.165152 -0.322928 0.459451
+v 0.167765 -0.322928 0.460158
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+v 0.167765 -0.322928 0.449797
+v 0.170379 -0.322928 0.450509
+v 0.172239 -0.322928 0.452364
+v 0.172946 -0.322928 0.454977
+v 0.172239 -0.322928 0.457590
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//1 5//1 4//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3767ad020edf1fde1347630fa8e94fa6698825b9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-201.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 201
+mtllib original-201.mtl
+o mesh201/mesh201-geometry#mesh201-geometry
+v 0.170379 -0.322928 0.439350
+v 0.165152 -0.322928 0.439350
+v 0.167765 -0.322928 0.440056
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+v 0.162585 -0.322928 0.434876
+v 0.163291 -0.322928 0.432262
+v 0.165152 -0.322928 0.430402
+v 0.167765 -0.322928 0.429695
+v 0.170379 -0.322928 0.430402
+v 0.172239 -0.322928 0.432262
+v 0.172946 -0.322928 0.434876
+v 0.172239 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
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+f 1//1 7//1 6//1
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+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e489e037c0100ffdf79789020f5a01f874fcd162
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-202.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 202
+mtllib original-202.mtl
+o mesh202/mesh202-geometry#mesh202-geometry
+v 0.147337 -0.322928 0.439350
+v 0.142110 -0.322928 0.439350
+v 0.144723 -0.322928 0.440056
+v 0.140255 -0.322928 0.437489
+v 0.139543 -0.322928 0.434876
+v 0.140255 -0.322928 0.432262
+v 0.142110 -0.322928 0.430402
+v 0.144723 -0.322928 0.429695
+v 0.147337 -0.322928 0.430402
+v 0.149197 -0.322928 0.432262
+v 0.149904 -0.322928 0.434876
+v 0.149197 -0.322928 0.437489
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
+f 5//2 6//2 1//2
+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
+f 7//2 8//2 1//2
+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b4e01ab3fd07f1ae8a61048cba33f6533877b57b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-203.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 203
+mtllib original-203.mtl
+o mesh203/mesh203-geometry#mesh203-geometry
+v 0.170379 -0.322928 0.412138
+v 0.165152 -0.322928 0.412138
+v 0.167765 -0.322928 0.412845
+v 0.163291 -0.322928 0.410277
+v 0.162585 -0.322928 0.407664
+v 0.163291 -0.322928 0.405051
+v 0.165152 -0.322928 0.403190
+v 0.167765 -0.322928 0.402484
+v 0.170379 -0.322928 0.403190
+v 0.172239 -0.322928 0.405051
+v 0.172946 -0.322928 0.407664
+v 0.172239 -0.322928 0.410277
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c595070a51024bf6d6a9a85469c618cd5a1373
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-204.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 204
+mtllib original-204.mtl
+o mesh204/mesh204-geometry#mesh204-geometry
+v 0.147337 -0.322928 0.411391
+v 0.142110 -0.322928 0.411391
+v 0.144723 -0.322928 0.412098
+v 0.140255 -0.322928 0.409531
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+v 0.149197 -0.322928 0.404304
+v 0.149904 -0.322928 0.406917
+v 0.149197 -0.322928 0.409531
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
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+f 1//1 6//1 5//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9912ebb1f522523a002529e050f74f12cea3bc4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-205.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 205
+mtllib original-205.mtl
+o mesh205/mesh205-geometry#mesh205-geometry
+v 0.147337 -0.322928 0.384926
+v 0.142110 -0.322928 0.384926
+v 0.144723 -0.322928 0.385633
+v 0.140255 -0.322928 0.383065
+v 0.139543 -0.322928 0.380452
+v 0.140255 -0.322928 0.377839
+v 0.142110 -0.322928 0.375978
+v 0.144723 -0.322928 0.375272
+v 0.147337 -0.322928 0.375978
+v 0.149197 -0.322928 0.377839
+v 0.149904 -0.322928 0.380452
+v 0.149197 -0.322928 0.383065
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
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+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf54c902dcf3fc205da42125072d263bc9769a44
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-206.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 206
+mtllib original-206.mtl
+o mesh206/mesh206-geometry#mesh206-geometry
+v 0.170379 -0.322928 0.384926
+v 0.165152 -0.322928 0.384926
+v 0.167765 -0.322928 0.385633
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+v 0.162585 -0.322928 0.380452
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+v 0.165152 -0.322928 0.375978
+v 0.167765 -0.322928 0.375272
+v 0.170379 -0.322928 0.375978
+v 0.172239 -0.322928 0.377839
+v 0.172946 -0.322928 0.380452
+v 0.172239 -0.322928 0.383065
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
+f 5//2 6//2 1//2
+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
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+f 9//1 8//1 1//1
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+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fc546845b9c569cb12dae73b5891f2088eaf7609
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-207.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 207
+mtllib original-207.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3d3e1b5b184f99ed1fc30c1d785b5e7c4005bac
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-208.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 208
+mtllib original-208.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adc403cf9d673ee24b994d49e6bdcb83c5c06e7e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-209.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 209
+mtllib original-209.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33c89cbf3f7b978baa37a54305dcdcf18a350830
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-21.obj
@@ -0,0 +1,1069 @@
+# SSTK version 0.8.0
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+mtllib original-21.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aea28afdb31df089c4fae447fa9c9f63f1d29da3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-210.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 210
+mtllib original-210.mtl
+o mesh210/mesh210-geometry#mesh210-geometry
+v 0.170379 -0.322928 0.480782
+v 0.165152 -0.322928 0.480782
+v 0.167765 -0.322928 0.481488
+v 0.163291 -0.322928 0.478921
+v 0.162585 -0.322928 0.476308
+v 0.163291 -0.322928 0.473695
+v 0.165152 -0.322928 0.471840
+v 0.167765 -0.322928 0.471127
+v 0.170379 -0.322928 0.471840
+v 0.172239 -0.322928 0.473695
+v 0.172946 -0.322928 0.476308
+v 0.172239 -0.322928 0.478921
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 1//1 5//1 4//1
+f 4//2 5//2 1//2
+f 1//1 6//1 5//1
+f 5//2 6//2 1//2
+f 1//1 7//1 6//1
+f 6//2 7//2 1//2
+f 1//1 8//1 7//1
+f 7//2 8//2 1//2
+f 9//1 8//1 1//1
+f 1//2 8//2 9//2
+f 10//1 9//1 1//1
+f 1//2 9//2 10//2
+f 11//1 10//1 1//1
+f 1//2 10//2 11//2
+f 11//1 1//1 12//1
+f 12//2 1//2 11//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.obj
new file mode 100644
index 0000000000000000000000000000000000000000..557712bcf1a1d51ddb58e487192e289c4b2ce6b2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-211.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 211
+mtllib original-211.mtl
+o mesh211/mesh211-geometry#mesh211-geometry
+v -0.061490 0.468242 0.560390
+v -0.061490 0.428222 0.560390
+v 0.028847 0.468242 0.560390
+v 0.028847 0.428222 0.560390
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33adf0fb77e827d4c2fa9ec99a6bc195d608a29e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-212.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 212
+mtllib original-212.mtl
+o mesh212/mesh212-geometry#mesh212-geometry
+v -0.054908 0.445917 0.560390
+v -0.053564 0.444553 0.560390
+v -0.048883 0.444553 0.560390
+v -0.047539 0.445917 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cd2d121a398edecd9ba88a4fc067c6c6df2d996
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-213.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 213
+mtllib original-213.mtl
+o mesh213/mesh213-geometry#mesh213-geometry
+v -0.053564 0.434585 0.560390
+v -0.054908 0.433221 0.560390
+v -0.048883 0.434585 0.560390
+v -0.047539 0.433221 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eef074ba7ecd7670bc1ef6b459316bc234577301
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-214.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 214
+mtllib original-214.mtl
+o mesh214/mesh214-geometry#mesh214-geometry
+v -0.055161 0.438792 0.560390
+v -0.055161 0.433479 0.560390
+v -0.053799 0.434837 0.560390
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+v -0.054655 0.439319 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 5//1 1//1 4//1
+f 4//2 1//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e49c09adccaa7888df3fcb90dee40bccd4637bd2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-215.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 215
+mtllib original-215.mtl
+o mesh215/mesh215-geometry#mesh215-geometry
+v -0.055161 0.445682 0.560390
+v -0.055161 0.440345 0.560390
+v -0.053799 0.444318 0.560390
+v -0.053799 0.440689 0.560390
+v -0.054655 0.439835 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
+f 4//1 2//1 5//1
+f 5//2 2//2 4//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8ed6047207298fc48eb0a912ffc149457f89c828
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-216.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 216
+mtllib original-216.mtl
+o mesh216/mesh216-geometry#mesh216-geometry
+v -0.048981 0.440248 0.560390
+v -0.048981 0.438890 0.560390
+v -0.048292 0.439566 0.560390
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+vn 0 0 1
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+f 1//1 2//1 3//1
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+f 1//1 4//1 2//1
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+f 5//1 4//1 1//1
+f 1//2 4//2 5//2
+f 5//1 6//1 4//1
+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5435a1e97fdf93c0b79cae8d0ffb458ef05926c3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-217.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 217
+mtllib original-217.mtl
+o mesh217/mesh217-geometry#mesh217-geometry
+v -0.038407 0.445917 0.560390
+v -0.038419 0.444553 0.560390
+v -0.037735 0.445240 0.560390
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+f 4//1 6//1 5//1
+f 5//2 6//2 4//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1f04a903de1ca0d50adfd46e65da7662232a2ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-218.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 218
+mtllib original-218.mtl
+o mesh218/mesh218-geometry#mesh218-geometry
+v -0.038235 0.439325 0.560390
+v -0.039102 0.438471 0.560390
+v -0.037735 0.438798 0.560390
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+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16837a846bc5d7c4f403e7f7bbc2b52bc0ad7cc4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-219.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 219
+mtllib original-219.mtl
+o mesh219/mesh219-geometry#mesh219-geometry
+v -0.043990 0.440684 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10f43bc81d1fc37f37d2da1ed176f256c26b605a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-22.obj
@@ -0,0 +1,419 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh22/mesh22-geometry#mesh22-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09472859b4b64f9e9167e422b7d3e150ae4d8e42
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-220.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 220
+mtllib original-220.mtl
+o mesh220/mesh220-geometry#mesh220-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e47b392f9562d079f8966abcf60f3bf38db37d26
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-221.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 221
+mtllib original-221.mtl
+o mesh221/mesh221-geometry#mesh221-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ee01c06de9a07a36242295d5134c816e03c13ad
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-222.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 222
+mtllib original-222.mtl
+o mesh222/mesh222-geometry#mesh222-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4865cb3b86b7548575b1c09106a21b16c3d1460
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-223.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 223
+mtllib original-223.mtl
+o mesh223/mesh223-geometry#mesh223-geometry
+v -0.035289 0.445917 0.560390
+v -0.033945 0.444553 0.560390
+v -0.029522 0.445917 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c535a003b718f3ef1076a52434ab460cd6cecea1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-224.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 224
+mtllib original-224.mtl
+o mesh224/mesh224-geometry#mesh224-geometry
+v -0.035541 0.445682 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c231298465ce2b559557e91fb15f77866cb60b9c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-225.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 225
+mtllib original-225.mtl
+o mesh225/mesh225-geometry#mesh225-geometry
+v -0.035541 0.438786 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9c5f7998948f0c90b7c1ba8b81810b2adacde6f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-226.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 226
+mtllib original-226.mtl
+o mesh226/mesh226-geometry#mesh226-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99750692c54b1984980786dfd0f297de32648692
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-227.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 227
+mtllib original-227.mtl
+o mesh227/mesh227-geometry#mesh227-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9465213e2fa6a0e7e9753c76e45c2831472082
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-228.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 228
+mtllib original-228.mtl
+o mesh228/mesh228-geometry#mesh228-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.obj
new file mode 100644
index 0000000000000000000000000000000000000000..127da75aebe7f26933c10c4d07a88a05a7ec8089
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-229.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 229
+mtllib original-229.mtl
+o mesh229/mesh229-geometry#mesh229-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72243200a8df8e804ac5839016388c36e530f73d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-23.obj
@@ -0,0 +1,1091 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb7ac15addad9d158ddb9d6850887a283ac1ef88
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-230.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 230
+mtllib original-230.mtl
+o mesh230/mesh230-geometry#mesh230-geometry
+v -0.025732 0.438786 0.560390
+v -0.025732 0.433215 0.560390
+v -0.024365 0.434579 0.560390
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+f 1//1 2//1 3//1
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+f 4//2 3//2 1//2
+f 5//1 1//1 4//1
+f 4//2 1//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.obj
new file mode 100644
index 0000000000000000000000000000000000000000..693f49a468f0a88fa132c84f80c78e3335155a7b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-231.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 231
+mtllib original-231.mtl
+o mesh231/mesh231-geometry#mesh231-geometry
+v -0.018116 0.434184 0.560390
+v -0.019075 0.433215 0.560390
+v -0.018116 0.433215 0.560390
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+f 1//1 2//1 3//1
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+f 5//1 4//1 1//1
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+f 6//1 4//1 5//1
+f 5//2 4//2 6//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.obj
new file mode 100644
index 0000000000000000000000000000000000000000..382c66e86068b866efebcd9ed433e10030dacb66
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-232.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 232
+mtllib original-232.mtl
+o mesh232/mesh232-geometry#mesh232-geometry
+v -0.019546 0.440248 0.560390
+v -0.019546 0.438890 0.560390
+v -0.018857 0.439566 0.560390
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+f 1//1 2//1 3//1
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+f 5//1 4//1 1//1
+f 1//2 4//2 5//2
+f 5//1 6//1 4//1
+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79fdc37c8d773e22ebdff06b1408895240d1063d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-233.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 233
+mtllib original-233.mtl
+o mesh233/mesh233-geometry#mesh233-geometry
+v -0.008295 0.445917 0.560390
+v -0.014320 0.444553 0.560390
+v -0.009639 0.444553 0.560390
+v -0.015664 0.445917 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 4//1 2//1 1//1
+f 1//2 2//2 4//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b8c9a29935c610746d7a225ae154adf20cfcd5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-234.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 234
+mtllib original-234.mtl
+o mesh234/mesh234-geometry#mesh234-geometry
+v -0.014320 0.434585 0.560390
+v -0.008295 0.433221 0.560390
+v -0.009639 0.434585 0.560390
+v -0.015664 0.433221 0.560390
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b16b7c1d69cebd78907a83d074f844e2c899bfa
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-235.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 235
+mtllib original-235.mtl
+o mesh235/mesh235-geometry#mesh235-geometry
+v -0.015922 0.438792 0.560390
+v -0.015922 0.433479 0.560390
+v -0.014555 0.434837 0.560390
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+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 5//1 1//1 4//1
+f 4//2 1//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.obj
new file mode 100644
index 0000000000000000000000000000000000000000..009ddb7f5a83bf3f8b2026be7993a51ced793af8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-236.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 236
+mtllib original-236.mtl
+o mesh236/mesh236-geometry#mesh236-geometry
+v -0.015922 0.445682 0.560390
+v -0.015922 0.440345 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.obj
new file mode 100644
index 0000000000000000000000000000000000000000..307b05de7c564dc8e115227955b0f93bfe0234b3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-237.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 237
+mtllib original-237.mtl
+o mesh237/mesh237-geometry#mesh237-geometry
+v -0.009737 0.440248 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d362943a1f12162e96fb59fdee7e2cc3393e5ad6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-238.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 238
+mtllib original-238.mtl
+o mesh238/mesh238-geometry#mesh238-geometry
+v 0.000837 0.445917 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e529ed9aad742742b247607b5b31939eb23072d9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-239.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 239
+mtllib original-239.mtl
+o mesh239/mesh239-geometry#mesh239-geometry
+v 0.001009 0.439325 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc960b5b185357b8f837ae6c7c5cc4f8ce0a9e10
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-24.obj
@@ -0,0 +1,66 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o mesh24/mesh24-geometry#mesh24-geometry
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+vn 0.12530598242201535 0.0007489998949301478 -0.99211786082522
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75382dc7339065a0cb9bd7f77a7d5f5f8c607420
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-240.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 240
+mtllib original-240.mtl
+o mesh240/mesh240-geometry#mesh240-geometry
+v -0.004746 0.440684 0.560390
+v -0.006107 0.440340 0.560390
+v -0.005602 0.439830 0.560390
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+f 6//1 4//1 5//1
+f 5//2 4//2 6//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8611efe394b96ad04d3dcef9237c72a167aab90
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-241.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 241
+mtllib original-241.mtl
+o mesh241/mesh241-geometry#mesh241-geometry
+v -0.005435 0.434585 0.560390
+v -0.006107 0.433891 0.560390
+v -0.005435 0.433221 0.560390
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+f 4//1 5//1 6//1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f4ccd222968c88ece5775481dc4a4b01ca3bf88
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-242.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 242
+mtllib original-242.mtl
+o mesh242/mesh242-geometry#mesh242-geometry
+v 0.000073 0.440248 0.560390
+v 0.000073 0.438890 0.560390
+v 0.000768 0.439566 0.560390
+v -0.004677 0.438890 0.560390
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+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0924a261508172ea18b22c0426d53c577c7a3cbd
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-243.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 243
+mtllib original-243.mtl
+o mesh243/mesh243-geometry#mesh243-geometry
+v 0.010646 0.445917 0.560390
+v 0.010635 0.444553 0.560390
+v 0.011318 0.445240 0.560390
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+v 0.004627 0.445240 0.560390
+vn 0 0 1
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+f 1//1 2//1 3//1
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+f 4//1 2//1 1//1
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+f 4//1 5//1 2//1
+f 2//2 5//2 4//2
+f 4//1 6//1 5//1
+f 5//2 6//2 4//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2324996db8bd424bc42e3fa2a0bf0058854d329d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-244.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 244
+mtllib original-244.mtl
+o mesh244/mesh244-geometry#mesh244-geometry
+v 0.010818 0.439325 0.560390
+v 0.009951 0.438471 0.560390
+v 0.011318 0.438798 0.560390
+v 0.011318 0.434837 0.560390
+v 0.009951 0.434837 0.560390
+v 0.010635 0.434149 0.560390
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+f 1//1 2//1 3//1
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+f 2//1 5//1 4//1
+f 4//2 5//2 2//2
+f 5//1 6//1 4//1
+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cf6a524b1f208f2ba2884fd7bfb56858b0d45d2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-245.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 245
+mtllib original-245.mtl
+o mesh245/mesh245-geometry#mesh245-geometry
+v 0.005069 0.440684 0.560390
+v 0.003703 0.440340 0.560390
+v 0.004214 0.439830 0.560390
+v 0.003703 0.444318 0.560390
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+f 6//1 4//1 5//1
+f 5//2 4//2 6//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.obj
new file mode 100644
index 0000000000000000000000000000000000000000..321e9479d6a81dc7efb6a5102b3d0b513028ee82
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-246.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 246
+mtllib original-246.mtl
+o mesh246/mesh246-geometry#mesh246-geometry
+v 0.004374 0.434585 0.560390
+v 0.003703 0.433891 0.560390
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+f 4//1 5//1 6//1
+f 6//2 5//2 4//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a289d3f88b8d153337c729d6bd9cb47e5289b658
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-247.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 247
+mtllib original-247.mtl
+o mesh247/mesh247-geometry#mesh247-geometry
+v 0.009882 0.440248 0.560390
+v 0.009882 0.438890 0.560390
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+f 4//2 6//2 5//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9445a470f8b744cec0bae1fa9b6fd7630d7b701
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-248.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 248
+mtllib original-248.mtl
+o mesh248/mesh248-geometry#mesh248-geometry
+v 0.019761 0.440689 0.560390
+v 0.020628 0.439835 0.560390
+v 0.021128 0.440345 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27d226cebf2e661841587c0a129991fd3573f090
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-249.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 249
+mtllib original-249.mtl
+o mesh249/mesh249-geometry#mesh249-geometry
+v 0.019531 0.445917 0.560390
+v 0.019531 0.444553 0.560390
+v 0.020203 0.445240 0.560390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9eb9eb217748b9e91e0a6d71f0aa1da70a4d954c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-25.obj
@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o mesh25/mesh25-geometry#mesh25-geometry
+v -0.065814 0.048280 0.478077
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbde560f0ea3a9d0a105f7efea0526e7c7894215
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-250.obj
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+# SSTK version 0.8.0
+# 250
+mtllib original-250.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12e5459f787c9d2166bb9c87aa3daf87201e056f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-251.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-252.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-252.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-252.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-252.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-252.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-253.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-253.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-253.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-253.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-253.obj
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new file mode 100644
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new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-254.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86e9347fbfe2338caa51c1f2b891c23685bbd7eb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-255.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e86ecd98c017b469a84cfc5e64c4586d18904ad9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-256.obj
@@ -0,0 +1,831 @@
+# SSTK version 0.8.0
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+mtllib original-256.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64599f7ad4b4e3c8fe069a8085255e9c9532f593
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-26.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c1014e4fed827886aa7921064c7a853b4a27e58
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-27.obj
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+# SSTK version 0.8.0
+# 27
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c00b32b75f04a491f7553dac5022a3ba30902abe
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-28.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..863096f21e75df7012a56c1e1807412620e4c65d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-29.obj
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+# SSTK version 0.8.0
+# 29
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-30.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-30.obj
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index 0000000000000000000000000000000000000000..c5e51aea5e2c8f6c6043171955f42180f79e6a67
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-31.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb7c23c1f4be3abf05a3b576a528a0fe4b158a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-31.obj
@@ -0,0 +1,115 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1275f0160952f3405702b572c9e26074e44c8b94
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-32.obj
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+# SSTK version 0.8.0
+# 32
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68253869e576bf4c3263eab0c140dcfea0b8c1ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-33.obj
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+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e648d4e14bacd201191c74ae03b72bc237023da
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-34.obj
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+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6c875b672590901df4b18047968f863ab415dc0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-35.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o mesh35/mesh35-geometry#mesh35-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ade8c8bf846d2e0259a92c42a0ced271d46dc79d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-36.obj
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+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o mesh36/mesh36-geometry#mesh36-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a4fca6464655e616b774d0b36ce22e77102a614
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-37.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o mesh37/mesh37-geometry#mesh37-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f85f701e7161f31dc2b0bf1e8f984322512ec37
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-38.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
+o mesh38/mesh38-geometry#mesh38-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bea3e04c9019677b644c138b31d0d39d7462bbd
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-39.obj
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+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b0884cdf91ab930be77b4ae60e4e17a2fcbc0cf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a0a9b7795b163e23df884868198af263cd7d69b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-40.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
+v 0.244737 0.175934 0.408669
+v 0.242767 0.171486 0.409588
+v 0.243508 0.171085 0.409243
+v 0.245484 0.175533 0.408319
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+vn 0.4219670344453814 0.0004270000348560265 0.9066110740071183
+vn -0.42327996891326203 -0.000021999998384064007 -0.9059989334611758
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+vn -0.4245918912737069 0.00038399990166839885 -0.9053847681558888
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 3//3 2//4 1//3
+f 1//1 3//1 4//5
+f 4//6 3//3 1//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a726141ff3f84f68eebe2fcede3bfc3663fe3a8c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-41.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
+v 0.251893 0.169251 0.405332
+v 0.251152 0.168855 0.405677
+v 0.251549 0.167961 0.405493
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+vn 0.42156585651565864 0.00041899985738882186 0.9067976913619369
+vn 0.4215970828904214 0.0004090000804135169 0.9067831782831115
+vn -0.42156585651565864 -0.00041899985738882186 -0.9067976913619369
+vn -0.4215970828904214 -0.0004090000804135169 -0.9067831782831115
+vn 0.4215350118851799 0.00042900001209545416 0.9068120255675653
+vn -0.4215350118851799 -0.00042900001209545416 -0.9068120255675653
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 3//3 2//4 1//3
+f 1//1 3//1 4//5
+f 4//6 3//3 1//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dc2ab994f7a5602a743a549c31917f4fdc961ada
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-42.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
+v 0.241676 0.169176 0.410099
+v 0.241280 0.168288 0.410283
+v 0.242417 0.168775 0.409749
+v 0.242026 0.167887 0.409933
+vn 0.4261122025324563 -0.002975001414027634 0.9046654299902951
+vn 0.4255349994293575 -0.001323999998224717 0.9049409987864742
+vn -0.4255349994293575 0.001323999998224717 -0.9049409987864742
+vn -0.4261122025324563 0.002975001414027634 -0.9046654299902951
+vn 0.4249559798866214 0.00032699998452272655 0.9052139571557718
+vn -0.4249559798866214 -0.00032699998452272655 -0.9052139571557718
+usemtl material_0_0
+f 1//1 2//2 3//2
+f 3//3 2//3 1//4
+f 3//2 2//2 4//5
+f 4//6 2//3 3//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af92c7d16ef3463881f6171f7fd781601bd29928
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-43.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
+v 0.246357 0.166775 0.407911
+v 0.246357 0.165565 0.407911
+v 0.247184 0.166775 0.407526
+v 0.247184 0.165565 0.407526
+vn 0.4218129431695678 0 0.9066828778435309
+vn -0.4218129431695678 0 -0.9066828778435309
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..295c028331ba8e68f44265793c52f0efafecd795
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-44.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o mesh44/mesh44-geometry#mesh44-geometry
+v 0.251106 0.171034 0.405700
+v 0.250365 0.170632 0.406044
+v 0.250756 0.169744 0.405861
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+vn -0.41926892088941264 0.0006869998703722694 -0.9078618286982914
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 3//3 2//4 1//3
+f 1//1 3//1 4//5
+f 4//6 3//3 1//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ea50cefaa085627541749befe22ff2327a118424
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-45.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o mesh45/mesh45-geometry#mesh45-geometry
+v 0.252686 0.167474 0.404965
+v 0.252335 0.166184 0.405125
+v 0.253082 0.166586 0.404781
+v 0.251945 0.167073 0.405309
+vn 0.42091794586406284 -0.001229999841805012 0.9070978833345203
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+vn -0.41926892088941264 0.0006869998703722694 -0.9078618286982914
+vn -0.42091794586406284 0.001229999841805012 -0.9070978833345203
+vn 0.42256495683182266 -0.0017729998188749816 0.906330907411505
+vn -0.42256495683182266 0.0017729998188749816 -0.906330907411505
+usemtl material_0_0
+f 1//1 2//1 3//2
+f 3//3 2//4 1//4
+f 1//1 4//5 2//1
+f 2//4 4//6 1//4
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc315a94fe18ac6894ca7da0e4abd1b8fe6a55dc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-46.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o mesh46/mesh46-geometry#mesh46-geometry
+v 0.242463 0.170953 0.409732
+v 0.242072 0.170065 0.409915
+v 0.243209 0.170552 0.409381
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+vn -0.4261749732317377 0.0029499998147092437 -0.9046359431793658
+usemtl material_0_0
+f 1//1 2//2 3//2
+f 3//3 2//3 1//4
+f 3//2 2//2 4//5
+f 4//6 2//3 3//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9322b21378d502d512c4bc1723caf3b7313bd386
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-47.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o mesh47/mesh47-geometry#mesh47-geometry
+v 0.241630 0.166998 0.410116
+v 0.240493 0.166505 0.410651
+v 0.241234 0.166110 0.410300
+v 0.240883 0.167399 0.410467
+vn 0.425582006297337 -0.0012390000183336843 0.9049190133900866
+vn 0.4261899374555658 -0.002957999565906402 0.9046288672434619
+vn -0.4261899374555658 0.002957999565906402 -0.9046288672434619
+vn -0.425582006297337 0.0012390000183336843 -0.9049190133900866
+vn 0.42497175711298635 0.0004789997262338107 0.9052064826411504
+vn -0.42497175711298635 -0.0004789997262338107 -0.9052064826411504
+usemtl material_0_0
+f 1//1 2//1 3//2
+f 3//3 2//4 1//4
+f 4//5 2//1 1//1
+f 1//4 2//4 4//6
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3194cde68ee2119d5b1f7f2b840d4ff48ff6efea
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-48.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o mesh48/mesh48-geometry#mesh48-geometry
+v 0.246357 0.169199 0.407911
+v 0.246357 0.167990 0.407911
+v 0.247184 0.169199 0.407526
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cb8060026ca85a5ff3b5efbe41cbd3ba6c33c0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-49.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o mesh49/mesh49-geometry#mesh49-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a36a9442e72532728a75a4f37c7fe7eb12be7254
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-5.obj
@@ -0,0 +1,357 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..223e97360034ed27e99e35f81021af85a7fc1d32
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-50.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 50
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..599822cc16007289f2db06834a378e13f424de62
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-51.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o mesh51/mesh51-geometry#mesh51-geometry
+v 0.209002 0.143618 0.425330
+v 0.209002 0.142707 0.425330
+v 0.214504 0.142707 0.422769
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..077e1c3a2fdd0ca085bdd924f97c2f62fef46b30
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-52.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o mesh52/mesh52-geometry#mesh52-geometry
+v 0.218657 0.139067 0.420833
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a570bed6e21e9b24aca42b7b14218af7d700f40f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-53.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o mesh53/mesh53-geometry#mesh53-geometry
+v 0.221982 0.139067 0.419283
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dd3c4d79d686f371dd696732260181769c5bd5b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-54.obj
@@ -0,0 +1,41 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o mesh54/mesh54-geometry#mesh54-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7876efb18928af062438b63713d8e8b7f16b99e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-55.obj
@@ -0,0 +1,134 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d09883ed06cdb79a4d564470bc99ee0d17487a7f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-56.obj
@@ -0,0 +1,251 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe75ae7a6f8ed2f429e35a334950b5186a3dad7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-57.obj
@@ -0,0 +1,143 @@
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+mtllib original-57.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61295c7957dc293dc8df1d1c7751367e36ff083
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-58.obj
@@ -0,0 +1,175 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
+o mesh58/mesh58-geometry#mesh58-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4faf4fc7ac2742f7c0f9e1168bd3c060d827390
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-59.obj
@@ -0,0 +1,251 @@
+# SSTK version 0.8.0
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+mtllib original-59.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dcf93b3758d260ad719bd254f922aae17e1b682
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1af5eea0efbe3fbe2896c51ba5811b6ee7ff67c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-60.obj
@@ -0,0 +1,134 @@
+# SSTK version 0.8.0
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+mtllib original-60.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4313cc78601c754d154de5e24a0d328208abfa1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-61.obj
@@ -0,0 +1,117 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5bd1eb9c575348e3ff89b9cb03c360c25f6828e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-62.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o mesh62/mesh62-geometry#mesh62-geometry
+v -0.050888 0.335246 0.557851
+v -0.051835 0.334862 0.557851
+v -0.052226 0.333916 0.557851
+v -0.051835 0.332982 0.557851
+v -0.050888 0.332586 0.557851
+v -0.049946 0.332982 0.557851
+v -0.049561 0.333916 0.557851
+v -0.049946 0.334862 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bd48a728f9475eda1130795ca5d3ab8f95f39fdc
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-63.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o mesh63/mesh63-geometry#mesh63-geometry
+v -0.035283 0.343832 0.557851
+v -0.036231 0.343448 0.557851
+v -0.036621 0.342502 0.557851
+v -0.036231 0.341568 0.557851
+v -0.035283 0.341173 0.557851
+v -0.034347 0.341568 0.557851
+v -0.033956 0.342502 0.557851
+v -0.034347 0.343448 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..798dda8e107239de7f9274246a923e51b7d7695e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-64.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o mesh64/mesh64-geometry#mesh64-geometry
+v -0.026157 0.359067 0.557851
+v -0.027104 0.358683 0.557851
+v -0.027495 0.357738 0.557851
+v -0.027104 0.356803 0.557851
+v -0.026157 0.356408 0.557851
+v -0.025221 0.356803 0.557851
+v -0.024830 0.357738 0.557851
+v -0.025221 0.358683 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29955fc423b92e6425849feb4da8a411d750d809
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-65.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh65/mesh65-geometry#mesh65-geometry
+v -0.026163 0.377260 0.557851
+v -0.027110 0.376871 0.557851
+v -0.027501 0.375931 0.557851
+v -0.027110 0.374991 0.557851
+v -0.026163 0.374601 0.557851
+v -0.025226 0.374991 0.557851
+v -0.024836 0.375931 0.557851
+v -0.025226 0.376871 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bda1e08b74a54821dd75f2b402c1a2227f8ce652
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-66.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o mesh66/mesh66-geometry#mesh66-geometry
+v -0.035128 0.392490 0.557851
+v -0.036076 0.392106 0.557851
+v -0.036466 0.391160 0.557851
+v -0.036076 0.390226 0.557851
+v -0.035128 0.389830 0.557851
+v -0.034192 0.390226 0.557851
+v -0.033801 0.391160 0.557851
+v -0.034192 0.392106 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d906b7b9cde05ca4366eb7b439cb0bead14e73f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-67.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
+v -0.050399 0.401747 0.557851
+v -0.051353 0.401357 0.557851
+v -0.051738 0.400417 0.557851
+v -0.051353 0.399477 0.557851
+v -0.050399 0.399087 0.557851
+v -0.049463 0.399477 0.557851
+v -0.049073 0.400417 0.557851
+v -0.049463 0.401357 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d68983d160a67825586ebe0ec5c1ab72c37fd8e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-68.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o mesh68/mesh68-geometry#mesh68-geometry
+v -0.068473 0.401707 0.557851
+v -0.069421 0.401317 0.557851
+v -0.069812 0.400377 0.557851
+v -0.069421 0.399437 0.557851
+v -0.068473 0.399047 0.557851
+v -0.067532 0.399437 0.557851
+v -0.067147 0.400377 0.557851
+v -0.067532 0.401317 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ebae43a7c8bf8cc9b89e3fb668f3de264e765a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-69.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
+o mesh69/mesh69-geometry#mesh69-geometry
+v -0.084245 0.392736 0.557851
+v -0.085198 0.392347 0.557851
+v -0.085583 0.391407 0.557851
+v -0.085198 0.390467 0.557851
+v -0.084245 0.390077 0.557851
+v -0.083308 0.390467 0.557851
+v -0.082918 0.391407 0.557851
+v -0.083308 0.392347 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0ab7b2a6696250a6aa5636496170532b2d014ba
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-7.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh7/mesh7-geometry#mesh7-geometry
+v 0.553451 0.316491 0.297364
+v -0.595208 -0.471303 0.297364
+v -0.595208 0.316491 0.297364
+v 0.553451 -0.471303 0.297364
+v -0.595208 -0.471303 0.510986
+v -0.595208 0.316491 0.510986
+v 0.553451 0.316491 0.510986
+v 0.553451 -0.471303 0.510986
+vn 0 0 -1
+vn 0 0 1
+vn -1 0 0
+vn 1 0 0
+vn 0 1 0
+vn 0 -1 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 4//1 2//1
+f 2//2 4//2 1//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 1//5 3//5 6//5
+f 6//6 3//6 1//6
+f 1//4 7//4 4//4
+f 4//3 7//3 1//3
+f 8//6 2//6 4//6
+f 4//5 2//5 8//5
+f 8//6 5//6 2//6
+f 2//5 5//5 8//5
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 7//5
+f 7//6 6//6 1//6
+f 4//4 7//4 8//4
+f 8//3 7//3 4//3
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0be77ff34334491dbb193c3c6be2e39d9d7e54b0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-70.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o mesh70/mesh70-geometry#mesh70-geometry
+v -0.093342 0.377295 0.557851
+v -0.094290 0.376911 0.557851
+v -0.094680 0.375965 0.557851
+v -0.094290 0.375031 0.557851
+v -0.093342 0.374635 0.557851
+v -0.092400 0.375031 0.557851
+v -0.092015 0.375965 0.557851
+v -0.092400 0.376911 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..053bbcb77924061d1e214108f548d477987da3b8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-71.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
+o mesh71/mesh71-geometry#mesh71-geometry
+v -0.093480 0.359251 0.557851
+v -0.094427 0.358867 0.557851
+v -0.094818 0.357921 0.557851
+v -0.094427 0.356987 0.557851
+v -0.093480 0.356591 0.557851
+v -0.092538 0.356987 0.557851
+v -0.092153 0.357921 0.557851
+v -0.092538 0.358867 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 1//1 3//1 4//1
+f 4//2 3//2 1//2
+f 1//1 4//1 5//1
+f 5//2 4//2 1//2
+f 1//1 5//1 6//1
+f 6//2 5//2 1//2
+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e84d34dfbdc6a8d5fa76e1b1a21d1e8c2b2535c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-72.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o mesh72/mesh72-geometry#mesh72-geometry
+v -0.084141 0.343867 0.557851
+v -0.085089 0.343477 0.557851
+v -0.085479 0.342537 0.557851
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+v -0.083199 0.341597 0.557851
+v -0.082814 0.342537 0.557851
+v -0.083199 0.343477 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//1 4//1 5//1
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+f 1//1 5//1 6//1
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+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248c2da10f3648ad7fde9bcf424f27d999fd16e9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-73.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o mesh73/mesh73-geometry#mesh73-geometry
+v -0.068841 0.334627 0.557851
+v -0.069794 0.334243 0.557851
+v -0.070179 0.333297 0.557851
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+v -0.067905 0.334243 0.557851
+vn 0 0 1
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3687c6bcc66c74b0372d952b2a2bd9ef5d4ca83a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-74.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o mesh74/mesh74-geometry#mesh74-geometry
+v 0.006293 0.341511 0.557851
+v 0.005345 0.341121 0.557851
+v 0.004955 0.340181 0.557851
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+vn 0 0 1
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+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a6bbd7abb2db9fffced90f093784767b0e835b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-75.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o mesh75/mesh75-geometry#mesh75-geometry
+v 0.049253 0.341511 0.557851
+v 0.048305 0.341121 0.557851
+v 0.047914 0.340181 0.557851
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+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 1//1 5//1 6//1
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+f 1//1 6//1 7//1
+f 7//2 6//2 1//2
+f 1//1 7//1 8//1
+f 8//2 7//2 1//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0a1e24fbaf1bbae456d263effb091dd458fec1b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-76.obj
@@ -0,0 +1,105 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o mesh76/mesh76-geometry#mesh76-geometry
+v 0.052934 0.357938 0.557851
+v 0.048908 0.350177 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20f9b51a7e9c1a22c566c2331b423f0e73c0278
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-77.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
+o mesh77/mesh77-geometry#mesh77-geometry
+v -0.133729 0.391693 0.557851
+v -0.133017 0.390558 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..264bcf38426156bfa025d8cfd9384905953f9bd3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-78.obj
@@ -0,0 +1,178 @@
+# SSTK version 0.8.0
+# 78
+mtllib original-78.mtl
+o mesh78/mesh78-geometry#mesh78-geometry
+v -0.126710 0.389876 0.557851
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-79.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-79.obj
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index 0000000000000000000000000000000000000000..a52f792d10315ecc5cc7f15385461703d5f1af0d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-79.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f542f51f1b84d68c955e65eed9ae6014f6ee8fe
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91187b58dfc5b5780304f54f5afc14335e29bef0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-80.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
+o mesh80/mesh80-geometry#mesh80-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8cf7167eff4b7e37665ccbb61b8f4491c3126d8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-81.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 81
+mtllib original-81.mtl
+o mesh81/mesh81-geometry#mesh81-geometry
+v 0.076390 0.391693 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26a53d5a4a55bb1ac9a5aef08259fd81f0a44bdf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-82.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 82
+mtllib original-82.mtl
+o mesh82/mesh82-geometry#mesh82-geometry
+v 0.078314 0.397855 0.557851
+v 0.078314 0.389458 0.557851
+v 0.079353 0.397855 0.557851
+v 0.079353 0.389458 0.557851
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a67ceaaca30ee0312e9e1b86f039ca07de094a12
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-83.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o mesh83/mesh83-geometry#mesh83-geometry
+v 0.085137 0.391424 0.557851
+v 0.085826 0.390449 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ecc70cb93cc2d66c69b0836bda42b38c6e1b0a0c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-84.obj
@@ -0,0 +1,178 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o mesh84/mesh84-geometry#mesh84-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15e5bd27dd7dfb3f2160ad7c7dcd981094a7fc1c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-85.obj
@@ -0,0 +1,72 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o mesh85/mesh85-geometry#mesh85-geometry
+v 0.098989 0.393195 0.557851
+v 0.097950 0.389458 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51835c76f7f7194bdaca71329567926f57aba582
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-86.obj
@@ -0,0 +1,30 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o mesh86/mesh86-geometry#mesh86-geometry
+v 0.094010 0.395528 0.557851
+v 0.094940 0.394674 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc3edd473395badcb9e6f3b04ca594984a3161a4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-87.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o mesh87/mesh87-geometry#mesh87-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f654bb88317e7a3ad19ad8aecbd6c815bea9745c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-88.obj
@@ -0,0 +1,178 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o mesh88/mesh88-geometry#mesh88-geometry
+v 0.122302 0.389876 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69a592e432104aa05cc3538625b631ff0bc6c174
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-89.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o mesh89/mesh89-geometry#mesh89-geometry
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+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..657fe8439757631384402c3a160ecff020448325
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-9.obj
@@ -0,0 +1,1095 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1febfc56e0a8584e76c469dbcf4fe9934b5c32cb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-90.obj
@@ -0,0 +1,111 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6b2cca5e21ccee62eed9cef0ccaa122119c02ff
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-91.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
+o mesh91/mesh91-geometry#mesh91-geometry
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adf535104428eac77c467f51053442a0d5abdf8b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-92.obj
@@ -0,0 +1,118 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
+o mesh92/mesh92-geometry#mesh92-geometry
+v 0.218484 0.388856 0.557851
+v 0.219179 0.387882 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..082f5c1928caf643798b6e631e293b0b01b3e88a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-93.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 93
+mtllib original-93.mtl
+o mesh93/mesh93-geometry#mesh93-geometry
+v 0.223567 0.390111 0.557851
+v 0.224549 0.386890 0.557851
+v 0.225830 0.386890 0.557851
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+v 0.220282 0.392960 0.557851
+v 0.225658 0.392960 0.557851
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 11//1 5//1 8//1
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+f 9//1 1//1 12//1
+f 12//2 1//2 9//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3382409d03b1d827c1f21b3fd5795272dba32bad
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-94.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o mesh94/mesh94-geometry#mesh94-geometry
+v 0.226697 0.392960 0.557851
+v 0.226697 0.386890 0.557851
+v 0.227737 0.392960 0.557851
+v 0.227737 0.386890 0.557851
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd0bb2c6103a373a48a9a4c84909806efe7318a2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-95.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
+o mesh95/mesh95-geometry#mesh95-geometry
+v 0.226697 0.395287 0.557851
+v 0.226697 0.394124 0.557851
+v 0.227737 0.395287 0.557851
+v 0.227737 0.394124 0.557851
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 3//2 2//2 1//2
+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb602485d48b4280af97a7deba9e4fae43116e54
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-96.obj
@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 96
+mtllib original-96.mtl
+o mesh96/mesh96-geometry#mesh96-geometry
+v 0.230511 0.392960 0.557851
+v 0.231533 0.392158 0.557851
+v 0.231533 0.392960 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b7d698c74e2f80f2891b82ca8962e5950f71dc4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-97.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 97
+mtllib original-97.mtl
+o mesh97/mesh97-geometry#mesh97-geometry
+v -0.166868 0.402492 0.557851
+v -0.166868 0.394003 0.557851
+v -0.165874 0.402492 0.557851
+v -0.165874 0.394003 0.557851
+vn 0 0 1
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//1 2//1 4//1
+f 4//2 2//2 3//2
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbbddb558c99e9b950fb34b1f92ff7e1ca0d5e20
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-98.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 98
+mtllib original-98.mtl
+o mesh98/mesh98-geometry#mesh98-geometry
+v -0.161096 0.395958 0.557851
+v -0.161078 0.392949 0.557851
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-99.mtl b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-99.obj b/data/PartNet-Mobility/CoffeeMachine/103101/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7ee326c614eaee29ed1cc7badfa389b7b34584c
--- /dev/null
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+mtllib original-99.mtl
+o mesh99/mesh99-geometry#mesh99-geometry
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+<?xml version="1.0" ?>
+<robot name="partnet_f3395b96-eefd-4bf7-bf01-414116a01c2a">
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+			</geometry>
+		</visual>
+		<visual name="container-2">
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+		</visual>
+		<visual name="container-2">
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+			<geometry>
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+			<origin xyz="0 0 0"/>
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+		</visual>
+		<visual name="container-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-2">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="container-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-2">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		<visual name="lid-3">
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+		<visual name="lid-3">
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103105/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6eb6b16cc865db45dbda8681a42b56f07b63c85
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":4,"joint":"slider","name":"container","parts":[{"id":2,"name":"container"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":0,"joint":"slider","name":"lid","parts":[{"id":3,"name":"lid"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,1,0]},"limit":{"a":0,"b":0.01,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":4,"joint":"hinge","name":"knob","parts":[{"id":4,"name":"knob"}],"jointData":{"axis":{"origin":[-0.015500351133774296,-0.43140604149461764,0.05815523915704288],"direction":[0.0690912014124707,-0.13571403895028467,-0.9883360286457142]},"limit":{"a":-50,"b":100,"noLimit":false}}},{"id":3,"parent":-1,"joint":"junk","name":"outlier","parts":[{"id":5,"name":"outlier"}],"jointData":{}},{"id":4,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":6,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/result.json b/data/PartNet-Mobility/CoffeeMachine/103105/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6329fde8aa76a1b3c475b419c642d453856a0a1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "container", "name": "container", "id": 2, "objs": ["original-22", "original-24", "original-21", "original-31", "original-26", "original-29", "original-17", "original-16", "original-18", "original-32"]}, {"text": "lid", "name": "lid", "id": 3, "objs": ["original-20", "original-19", "original-25", "original-28", "original-30", "original-23"]}, {"text": "knob", "name": "knob", "id": 4, "objs": ["original-14", "original-10", "original-11", "original-12"]}, {"text": "outlier", "name": "outlier", "id": 5, "objs": ["original-27"]}, {"text": "base_body", "name": "base_body", "id": 6, "objs": ["original-36", "original-4", "original-3", "original-33", "original-2", "original-8", "original-13", "original-35", "original-5", "original-6", "original-34", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103105/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed7d0520d4e50d03820575be01a0d4396c2a54b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "container", "text": "container", "objs": ["original-22", "original-24", "original-21", "original-31", "original-26", "original-29", "original-17", "original-16", "original-18", "original-32"]}, {"id": 3, "name": "lid", "text": "lid", "objs": ["original-20", "original-19", "original-25", "original-28", "original-30", "original-23"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-14", "original-10", "original-11", "original-12"]}, {"id": 5, "name": "outlier", "text": "outlier", "objs": ["original-27"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103105/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e655d58d360caab51213c3120064fc1d697f8d66
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider container
+link_1 slider lid
+link_2 hinge knob
+link_3 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c556faf0e886c45c91e9d7c81694f96559de6b9c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.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 0.6666666666666666 0.6901960784313725 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04f4547e2a5a5f9fc868e01df07a2bce346c43f4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-1.obj
@@ -0,0 +1,136 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o #ID186
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1319d51777c359501947de1d9e045f7fc122c34a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-10.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID13
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c25e2d666e5f8c810363b760480287e52052312
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_2
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0501028deeec3eb27da280ec97cdfb77fbbc2caf
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-11.obj
@@ -0,0 +1,133 @@
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new file mode 100644
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new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-13.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-14.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-14.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-16.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-16.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-20.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-20.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-21.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf05fa2b64e97ac43f7f95668376b8d131532f1e
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ebd681ec409cc19d9b511296a14f77b5fbca867
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf05fa2b64e97ac43f7f95668376b8d131532f1e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
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+Ns 30
+Kd 0.9333333333333333 0.9333333333333333 0.9333333333333333 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d929a2bf7208b6d584c1a1cf27cb1cca3b7a6e42
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-22.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-26.obj
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--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3b533f6fec30f058110be63d6c7abe2d821b98
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-28.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-28.obj
new file mode 100644
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-31.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..d1982f751f852b865a70bf203d73b4159f7547dd
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+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-5.obj
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+++ b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-6.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-6.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..407e608b52a5a3f7170ed58e8fcbb02604854a0a
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103105/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e1849179ee8b64e0e039e7a4a553adbe85fa1fa
--- /dev/null
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_1"/>
+		<parent link="link_3"/>
+		<limit lower="0" upper="0.06400000000000006"/>
+	</joint>
+	<link name="link_2">
+		<visual name="lid-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="lid-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_2"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.07600000000000007"/>
+	</joint>
+	<link name="link_3">
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103110/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c8cff599002f46eb513676590dbb30abbc5516e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 3, "joint": "hinge", "name": "knob", "parts": [{"id": 1, "name": "knob", "children": []}], "jointData": {"axis": {"origin": [0.029624408582571322, -0.459598867248577, 0.028221708027520963], "direction": [-0.017595256284796017, -0.06240999750328398, -0.9978954850924583]}, "limit": {"a": 0, "b": 0, "noLimit": true}}}, {"id": 1, "parent": 3, "joint": "slider", "name": "container", "parts": [{"id": 2, "name": "container", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.06400000000000006, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 1, "joint": "slider", "name": "lid", "parts": [{"id": 3, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0, "b": 0.07600000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 4, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/result.json b/data/PartNet-Mobility/CoffeeMachine/103110/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..8711ef91adb7fdb3182afac35fcd5f8b39c78e5f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "knob", "name": "knob", "id": 1, "objs": ["original-5"]}, {"text": "container", "name": "container", "id": 2, "objs": ["original-8", "original-25", "original-9", "original-26", "original-10", "original-11", "original-28", "original-27", "original-29", "original-12", "original-18", "original-17", "original-19", "original-23", "original-21", "original-13"]}, {"text": "lid", "name": "lid", "id": 3, "objs": ["original-14", "original-15"]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-22", "original-4", "original-3", "original-2", "original-16", "original-6", "original-7", "original-1"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103110/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a51964675f84539c2de740f3ad645baba3a275b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "switch", "text": "switch", "objs": ["original-5"]}, {"id": 2, "name": "container", "text": "container", "objs": ["original-8", "original-25", "original-9", "original-26", "original-10", "original-11", "original-28", "original-27", "original-29", "original-12", "original-18", "original-17", "original-19", "original-23", "original-21", "original-13"]}, {"id": 3, "name": "lid", "text": "lid", "objs": ["original-14", "original-15"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103110/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bbb428a7ddf407aa5d1fd75300f441df64f0ac02
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/semantics.txt
@@ -0,0 +1,4 @@
+link_0 hinge knob
+link_1 slider container
+link_2 slider lid
+link_3 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecff2c839540156fc42056c1deed3b50c2c4d38c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8784313725490196 0.8784313725490196 0.8784313725490196 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46c8dde38ad9e42fe5bbc128c3a2dc12df5b56a0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-1.obj
@@ -0,0 +1,2541 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a75b9de7df66b3c28d7b4b0ac5856ae8c1586741
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.19999999999999984
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.png
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..872729f9a8ec0b7dc7ea5b0b172e06e63bbf4148
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-10.obj
@@ -0,0 +1,84 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o instance_11/_2d6cc6dd-92dc-4b7b-abe4-750a3a879fcc/ID103#ID103
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28a10a81e20684b64d5ba80d92359c12fddac976
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2784313725490196 0.29411764705882354 0.2901960784313726 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd61922f237883f2e66cfe07aa09bb22885cd294
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-15.obj
@@ -0,0 +1,3303 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28a10a81e20684b64d5ba80d92359c12fddac976
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65841282fb0a8f888b225f83e5088fff7f2de3ab
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28a10a81e20684b64d5ba80d92359c12fddac976
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e00261810d8ef348ca59441ead3e50454a12d2d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-17.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-18.mtl
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index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a6a0f8ec9a82a7149f8b7a090193bde05ddb4fe
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28a10a81e20684b64d5ba80d92359c12fddac976
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2784313725490196 0.29411764705882354 0.2901960784313726 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..440c8cdf6b61b2a8c9d254efe0646c2712de74ca
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-19.obj
@@ -0,0 +1,833 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecff2c839540156fc42056c1deed3b50c2c4d38c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.mtl
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+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5902eb39b104fbe11671a8a3ba817a901d1b6853
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-21.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..4617dde726fe16941f5b6a73347d62b2db8934b6
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecff2c839540156fc42056c1deed3b50c2c4d38c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe4c8853314fe56b197321d745f368e40e104b72
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-3.obj
@@ -0,0 +1,393 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ecff2c839540156fc42056c1deed3b50c2c4d38c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d20c71f59f905c89f2ba19d322368f0634205794
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d946d894005a8161a2cca070de249d356bd673c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4daee61bfac68f54fa5afd0a6a295a66e76e7c5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-5.obj
@@ -0,0 +1,963 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..178ec5629cc0a847e902cfac526b267125177a29
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.09019607843137255 0.08627450980392157 0.08627450980392157 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..623925c6b31f18a476b4be065ad5351d643b6571
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-6.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..28a10a81e20684b64d5ba80d92359c12fddac976
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.2784313725490196 0.29411764705882354 0.2901960784313726 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab3631b1de10fb0ad92cadf8c6c309923b69df81
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-8.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a75b9de7df66b3c28d7b4b0ac5856ae8c1586741
--- /dev/null
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+map_Kd ../images/texture_1.png
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-8.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e6883c250e0216b4da35240ef3aaf6365036599
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a75b9de7df66b3c28d7b4b0ac5856ae8c1586741
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+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.mtl
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+illum 4
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+map_Kd ../images/texture_1.png
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15218a285a131a5177557d04e0bfa65910862cdb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103110/textured_objs/original-9.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103118/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1d3d0fc269e799bfc1936a9e06bd078c3cf71e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/bounding_box.json
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+{"min": [-0.726188, -0.611581, -0.664928], "max": [0.451824, 0.662512, 0.817629]}
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/images/texture_0.jpg b/data/PartNet-Mobility/CoffeeMachine/103118/images/texture_0.jpg
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/meta.json b/data/PartNet-Mobility/CoffeeMachine/103118/meta.json
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/meta.json
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+{"user_id": "kaichun", "model_cat": "CoffeeMachine", "model_id": "fc4a2a62-ec07-4877-aa45-cd9c757718c5", "version": "1", "anno_id": "3118", "time_in_sec": "105"}
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103118/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ac9229af7f536077ba6f795054060022988b24d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/mobility.urdf
@@ -0,0 +1,1152 @@
+<?xml version="1.0" ?>
+<robot name="partnet_fc4a2a62-ec07-4877-aa45-cd9c757718c5">
+	<link name="base"/>
+	<link name="link_0">
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+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_0" type="revolute">
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+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_5"/>
+		<limit lower="-0.0" upper="0.9599310885968813"/>
+	</joint>
+	<link name="link_1">
+		<visual name="knob-3">
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="revolute">
+		<origin xyz="-0.260585827380418 0.5985009285369901 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_5"/>
+		<limit lower="-0.0" upper="0.9599310885968813"/>
+	</joint>
+	<link name="link_2">
+		<visual name="knob-4">
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+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.260585827380418 -0.5985009285369901 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="revolute">
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+		<child link="link_2"/>
+		<parent link="link_5"/>
+		<limit lower="-0.0" upper="0.9599310885968813"/>
+	</joint>
+	<link name="link_3">
+		<visual name="knob-5">
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+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="revolute">
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+		<parent link="link_5"/>
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+	</joint>
+	<link name="link_4">
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+			<geometry>
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+		</visual>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="continuous">
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+		<child link="link_4"/>
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+	<link name="link_5">
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+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
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+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
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+		</visual>
+		<visual name="base_body-11">
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+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
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+		</visual>
+		<visual name="base_body-11">
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+			<geometry>
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+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-7">
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-7">
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="container-7">
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-8">
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0.15044261020421984 0 -0.2509010620415222"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="revolute">
+		<origin xyz="-0.15044261020421984 0 0.2509010620415222"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_6"/>
+		<parent link="link_5"/>
+		<limit lower="-2.067167966062084" upper="1.0681415022205294"/>
+	</joint>
+	<link name="link_7">
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="knob-9">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<visual name="outlier-10">
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="-0.252766 -0.2708005 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="continuous">
+		<origin xyz="0.252766 0.2708005 0"/>
+		<axis xyz="0 0 1"/>
+		<child link="link_7"/>
+		<parent link="link_5"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103118/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..065a60e06d568402ab0e08fc6175d318b93c27ed
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":5,"joint":"hinge","name":"lever","parts":[{"id":2,"name":"knob"}],"jointData":{"axis":{"origin":[-0.260585827380418,0.5985009285369901,0],"direction":[0,0,1]},"limit":{"a":0,"b":-55,"noLimit":false}}},{"id":1,"parent":5,"joint":"hinge","name":"lever","parts":[{"id":3,"name":"knob"}],"jointData":{"axis":{"origin":[-0.260585827380418,0.5985009285369901,0],"direction":[0,0,1]},"limit":{"a":0,"b":-55,"noLimit":false}}},{"id":2,"parent":5,"joint":"hinge","name":"lever","parts":[{"id":4,"name":"knob"}],"jointData":{"axis":{"origin":[-0.260585827380418,0.5985009285369901,0],"direction":[0,0,1]},"limit":{"a":0,"b":-55,"noLimit":false}}},{"id":3,"parent":5,"joint":"hinge","name":"lever","parts":[{"id":5,"name":"knob"}],"jointData":{"axis":{"origin":[-0.260585827380418,0.5985009285369901,0],"direction":[0,0,1]},"limit":{"a":0,"b":-55,"noLimit":false}}},{"id":4,"parent":5,"joint":"hinge","name":"knob","parts":[{"id":6,"name":"knob"}],"jointData":{"axis":{"origin":[-0.2685415112803016,0,-0.08780205278039632],"direction":[0,-1,0]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":5,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":11,"name":"base_body"}],"jointData":{}},{"id":6,"parent":5,"joint":"hinge","name":"portafilter","parts":[{"id":7,"name":"container"},{"id":8,"name":"outlier"}],"jointData":{"axis":{"origin":[-0.15044261020421984,0,0.2509010620415222],"direction":[0,1,0]},"limit":{"a":118.44000000000001,"b":-61.19999999999999,"noLimit":false}}},{"id":7,"parent":5,"joint":"hinge","name":"knob","parts":[{"id":9,"name":"knob"},{"id":10,"name":"outlier"}],"jointData":{"axis":{"origin":[0.252766,0.2708005,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/result.json b/data/PartNet-Mobility/CoffeeMachine/103118/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce12e697f9b461472aa3e8ca569c2a2240acb20c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "knob", "name": "knob", "id": 2, "objs": ["original-111"]}, {"text": "knob", "name": "knob", "id": 3, "objs": ["original-34"]}, {"text": "knob", "name": "knob", "id": 4, "objs": ["original-95"]}, {"text": "knob", "name": "knob", "id": 5, "objs": ["original-103"]}, {"text": "knob", "name": "knob", "id": 6, "objs": ["original-66"]}, {"text": "container", "name": "container", "id": 7, "objs": ["original-9", "original-13", "original-11", "original-15", "original-14", "original-6", "original-2", "original-5"]}, {"text": "outlier", "name": "outlier", "id": 8, "objs": ["original-4", "original-10"]}, {"text": "knob", "name": "knob", "id": 9, "objs": ["original-78", "original-81", "original-87", "original-75", "original-84", "original-85", "original-82", "original-88", "original-76", "original-92", "original-90", "original-93", "original-91"]}, {"text": "outlier", "name": "outlier", "id": 10, "objs": ["original-79"]}, {"text": "base_body", "name": "base_body", "id": 11, "objs": ["original-29", "original-100", "original-30", "original-36", "original-119", "original-41", "original-28", "original-64", "original-43", "original-71", "original-52", "original-26", "original-117", "original-44", "original-106", "original-16", "original-109", "original-45", "original-49", "original-39", "original-120", "original-59", "original-114", "original-54", "original-63", "original-27", "original-51", "original-55", "original-113", "original-50", "original-31", "original-37", "original-48", "original-116", "original-122", "original-108", "original-62", "original-23", "original-58", "original-98", "original-67", "original-68", "original-18", "original-70", "original-118", "original-25", "original-24", "original-20", "original-32", "original-47", "original-53", "original-7", "original-105", "original-101", "original-121", "original-97", "original-60", "original-19", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103118/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f7947110252effa006e2f80bce71b65aae0d01d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 2, "name": "switch", "text": "switch", "objs": ["original-111"]}, {"id": 3, "name": "switch", "text": "switch", "objs": ["original-34"]}, {"id": 4, "name": "switch", "text": "switch", "objs": ["original-95"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-103"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-66"]}, {"id": 7, "name": "container", "text": "container", "objs": ["original-9", "original-13", "original-11", "original-15", "original-14", "original-6", "original-2", "original-5"]}, {"id": 8, "name": "outlier", "text": "outlier", "objs": ["original-4", "original-10"]}, {"id": 9, "name": "switch", "text": "switch", "objs": ["original-78", "original-81", "original-87", "original-75", "original-84", "original-85", "original-82", "original-88", "original-76", "original-92", "original-90", "original-93", "original-91"]}, {"id": 10, "name": "outlier", "text": "outlier", "objs": ["original-79"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103118/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ea2095c50674b0d0ed336aa623947e56699b0f3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/semantics.txt
@@ -0,0 +1,8 @@
+link_0 hinge lever
+link_1 hinge lever
+link_2 hinge lever
+link_3 hinge lever
+link_4 hinge knob
+link_5 free coffee_machine_body
+link_6 hinge portafilter
+link_7 hinge knob
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2784313725490196 0.2627450980392157 0.25098039215686274 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..addfdb5476e1b20204bae3f20a2a1555c9aefd92
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-10.obj
@@ -0,0 +1,327 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID40
+v -0.152154 -0.087414 0.245603
+v -0.151206 -0.087414 0.244655
+v -0.151742 -0.087410 0.245066
+v -0.150582 -0.087426 0.244396
+v -0.152413 -0.087426 0.246227
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+v -0.149912 -0.087445 0.244307
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+v -0.152414 -0.087470 0.247567
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+v -0.149245 -0.087632 0.249395
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+v -0.148620 -0.087644 0.249136
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+v -0.149245 -0.087632 0.249395
+v -0.147413 -0.087632 0.247564
+v -0.149915 -0.087614 0.249484
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+v -0.150584 -0.087589 0.249396
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+v -0.151208 -0.087560 0.249138
+v -0.147671 -0.087560 0.245600
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+v -0.152155 -0.087498 0.248191
+v -0.148618 -0.087498 0.244653
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+v -0.152501 -0.087445 0.246897
+v -0.149912 -0.087445 0.244307
+v -0.150582 -0.087426 0.244396
+v -0.152413 -0.087426 0.246227
+v -0.152154 -0.087414 0.245603
+v -0.151206 -0.087414 0.244655
+v -0.151742 -0.087410 0.245066
+v -0.148082 -0.087529 0.245064
+v -0.148955 -0.097846 0.244316
+v -0.148419 -0.097877 0.244728
+v -0.148618 -0.087498 0.244653
+v -0.148618 -0.087498 0.244653
+v -0.148082 -0.087529 0.245064
+v -0.148955 -0.097846 0.244316
+v -0.148419 -0.097877 0.244728
+v -0.149579 -0.097817 0.244058
+v -0.149242 -0.087470 0.244395
+v -0.149242 -0.087470 0.244395
+v -0.149579 -0.097817 0.244058
+v -0.150249 -0.097793 0.243970
+v -0.149912 -0.087445 0.244307
+v -0.149912 -0.087445 0.244307
+v -0.150249 -0.097793 0.243970
+v -0.150582 -0.087426 0.244396
+v -0.150919 -0.097774 0.244059
+v -0.150582 -0.087426 0.244396
+v -0.150919 -0.097774 0.244059
+v -0.151206 -0.087414 0.244655
+v -0.151543 -0.097762 0.244318
+v -0.151206 -0.087414 0.244655
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-100.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-100.mtl
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index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-100.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..91fe2df3c0b1f6a4075cba03b283288f53067741
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-101.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-101.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-101.obj
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index 0000000000000000000000000000000000000000..49139aed12a21b0360bc70eab79c40cce71cd1e0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ef15b32f8b2f4d99a0d450d51fced58aa978c29
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-103.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9803921568627451 0.9411764705882353 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3db093334340ebe72b6998f9274af406fb0aa088
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-105.obj
@@ -0,0 +1,301 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-108.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-108.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a68dd42ac11a3c5e82b4e81a5629f75cf4de4e5
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6869cc100a07d80f1762eed31e2d81663f1b8e7e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-109.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf677b03f14c66edace7b8eb29a172c4f4e1ceec
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-11.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c03cea257d0e03c80b1b79f8d83903649d0f52b3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-111.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-113.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-113.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-113.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-113.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35d4b55dbd81a9839fb94ba339df682e3ebcf281
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-117.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-117.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48fd9752f69ef206e511d2b1b72e0f586e8d5565
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9803921568627451 0.9411764705882353 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4040a78bb2f9d0bd54bad929a6479bd62f4ed0a3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-118.obj
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+# SSTK version 0.8.0
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+mtllib original-118.mtl
+o #ID634
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new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-119.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d238569aa6371018a003b97312de90601368dc72
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-119.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e02b1b320a3b1ebcd5048f514b060bec030df7f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-120.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c187f1741063a75c7a6c9a81fe89745c8a1c6983
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-121.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f28deee7010241f134504c191d2cf476b4bec529
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-14.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1630c2cda601a18ecb09bea597617ba82322f0a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1118706fea90a21d067371b5ab62d2a22f591801
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-16.obj
@@ -0,0 +1,1879 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2784313725490196 0.2627450980392157 0.25098039215686274 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e571f2088ab474ba49ae22df3769d409016968
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-18.obj
@@ -0,0 +1,530 @@
+# SSTK version 0.8.0
+# 18
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.mtl
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9dd458d1a0c3a440c27f475f7afe792113db326f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-19.obj
@@ -0,0 +1,2997 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-2.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-2.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9683aa6835b274885a6fe1230e3f368045e3ece9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-20.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-23.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866bb73a4f14d3fdc82f5bf02e4752aae7234de4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-23.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-23.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96489556027819db768fa950c5a01148c812674b
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-24.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-24.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-24.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-25.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-25.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-25.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..900c568667ff1ffd0ce9500f355cae3c417856fe
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-25.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-26.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-26.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b9acf24a54cb5b9c10235996bdfc815e3434be
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-26.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866bb73a4f14d3fdc82f5bf02e4752aae7234de4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..062c75e948d58da04fff1fb217affceaf4a81406
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-27.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..866bb73a4f14d3fdc82f5bf02e4752aae7234de4
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6114cac8a36abee9539ed53cdbb00a16affca405
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-28.obj
@@ -0,0 +1,58 @@
+# SSTK version 0.8.0
+# 28
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new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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index 0000000000000000000000000000000000000000..ce29c6842dae7d4c2c6f80a2d76de80fea5d541e
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-37.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-37.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6fa5e1d4cea04c258461b855342b13f443709c1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-39.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-39.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f12a34b0f5387a50daf1a66c31bf34ad44e4a35
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ad388a607c2b849d0e15b2cf440e760aea30bd9
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-40.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-40.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66c3f0e664a66dd8abd9e0a2a159fc707d85b2f1
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec311630b2eb03a69184a310bb62b65ace1d6436
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-41.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b3f1c74423c78d865d7b64cbd62966c2dd0b27c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec311630b2eb03a69184a310bb62b65ace1d6436
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79ca051c62e31371d488e1ada8d1e9c21f364e98
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-44.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..ec311630b2eb03a69184a310bb62b65ace1d6436
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-45.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec311630b2eb03a69184a310bb62b65ace1d6436
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-46.obj
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index 0000000000000000000000000000000000000000..8266651678736ffc6f79037f4f993ea6613d0be6
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99565ebac686fea2887f4a69f45b03634b086d41
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44068f6a6ceb5c04f45c0ec16277ba299e3942b5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75509df62b0531049ad17466406ab4b9873d073a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-48.obj
@@ -0,0 +1,1017 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7323520bb094457dde41ce283db75dbec28a26cb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.5019608
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71f805ca6441cb9766867e6b5e0920e51fc17cb4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-49.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f61d3aa0767699a045ad7ae5120a09a3e34bd8d9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-5.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a13dbe603e4431c1080c40eebd4a59a25868b4c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0.9882352941176471 0.9882352941176471 0.9882352941176471 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..894fcf3821759c0d46f73bd3f77133b17d1e2f7e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-51.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f67b85bd2c39febfe9b1beb9cbb666ea7c5552f5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-51.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..a5b8f63e5bd09f62862e4c2d939fcea1170b886f
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-52.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-52.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-52.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-52.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-52.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5183fd6197484f9618166d4ddb22090714ef4588
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-54.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-54.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-54.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-54.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-54.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a13dbe603e4431c1080c40eebd4a59a25868b4c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.9882352941176471 0.9882352941176471 0.9882352941176471 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d9a361ffbc80487f6c44e8924a2d08ab1ac8453
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-58.obj
@@ -0,0 +1,1477 @@
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+mtllib original-58.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-60.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a13dbe603e4431c1080c40eebd4a59a25868b4c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-60.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acccde3014aca977cbc7e19b3e6a9909b226968c
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-63.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-63.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-66.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-66.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c15ca4131a14cd791cdfbc42c9da599206d56bf
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-67.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..774d2da2504a433ae8fff6ffb420035116562e12
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-68.obj
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index 0000000000000000000000000000000000000000..23803b336771f81be153340e81703933129ad622
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new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c9941aa5c7a1d91b83cf33bb6b5632466663e1
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26c7594d06b56747afdd75f8f0ae6430eb1800f1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-76.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e057d57b4515943313c40098d824f12b4d852836
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-78.obj
@@ -0,0 +1,2725 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-81.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 0.9803921568627451 0.9803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd8f213c11b4a29f4a9acdf7814c886464c4510a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8be26fd6998b60ce50cb8a93a8bc393c45129760
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-85.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-85.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-85.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1121f3f32e3eca976652a93484d0945822fa23d0
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 0.9803921568627451 0.9803921568627451 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1d7e2e5ddedc2be0af1d652184368b1b0b1de73
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-87.obj
@@ -0,0 +1,1881 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e40ab1ed8bfc2cd2728d2134e4940c1eb56de35b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8f6984045ed21ed0decbc22a29f3650aeaf54f6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12f60c85777618d0b7e16ed89b7e728be54a4295
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b483f4e5e56deddebf2e5ca9922c33905a1df02
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00016286e6c9eb72678269370722574c4ee0e790
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+d 1
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+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fff793d88ec71b487575eb584b3cdc3e1899fb0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-90.obj
@@ -0,0 +1,840 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-91.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..00016286e6c9eb72678269370722574c4ee0e790
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-91.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a18d5beea34eea51fc57950a1b39e76ed7c1c502
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-95.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-95.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4d02444091e454aea7371ed62e07e01c67d7c0ff
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.9803921568627451 0.9411764705882353 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..779a20895195e8ae5d07a3228563b652ce1dec5d
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-97.obj
@@ -0,0 +1,301 @@
+# SSTK version 0.8.0
+# 97
+mtllib original-97.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-98.mtl b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..970e17d4d8557eb91dcb0ff22fb50d08a2cf6228
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-98.obj b/data/PartNet-Mobility/CoffeeMachine/103118/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c073f362c621ec84b6edc8675e578c9e186d59c9
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103121/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..512c1aac8fe8ba12b810dece0b684158cd4f40a7
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+	<joint name="joint_10" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_10"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103121/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..db511850f88c3c074cf4610ab0ad2fe51a94cc48
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":10,"joint":"slider","name":"button","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":10,"joint":"slider","name":"button","parts":[{"id":2,"name":"button"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":10,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":10,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.0040000000000000036,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":10,"joint":"slider","name":"button","parts":[{"id":5,"name":"knob"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":10,"joint":"hinge","name":"knob","parts":[{"id":6,"name":"knob"}],"jointData":{"axis":{"origin":[-0.061664283827915424,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":6,"parent":10,"joint":"hinge","name":"knob","parts":[{"id":7,"name":"knob"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":7,"parent":10,"joint":"slider","name":"button","parts":[{"id":8,"name":"knob"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":8,"parent":10,"joint":"slider","name":"button","parts":[{"id":9,"name":"knob"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":9,"parent":10,"joint":"slider","name":"button","parts":[{"id":10,"name":"knob"}],"jointData":{"axis":{"origin":[0.008627716172084571,0.33751471617208456,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":10,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":11,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/result.json b/data/PartNet-Mobility/CoffeeMachine/103121/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5cbe22817551c0dd080f49278c0d128238f2ec2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-20"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-19"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-16"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-14"]}, {"text": "knob", "name": "knob", "id": 5, "objs": ["original-11"]}, {"text": "knob", "name": "knob", "id": 6, "objs": ["original-9", "original-22"]}, {"text": "knob", "name": "knob", "id": 7, "objs": ["original-8", "original-23"]}, {"text": "knob", "name": "knob", "id": 8, "objs": ["original-12"]}, {"text": "knob", "name": "knob", "id": 9, "objs": ["original-13"]}, {"text": "knob", "name": "knob", "id": 10, "objs": ["original-10"]}, {"text": "base_body", "name": "base_body", "id": 11, "objs": ["original-29", "original-100", "original-21", "original-30", "original-36", "original-41", "original-28", "original-96", "original-64", "original-43", "original-71", "original-52", "original-83", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-86", "original-45", "original-35", "original-49", "original-93", "original-61", "original-39", "original-59", "original-5", "original-77", "original-54", "original-63", "original-27", "original-87", "original-51", "original-55", "original-50", "original-6", "original-31", "original-48", "original-15", "original-85", "original-56", "original-76", "original-72", "original-99", "original-62", "original-75", "original-66", "original-58", "original-98", "original-67", "original-69", "original-38", "original-68", "original-80", "original-34", "original-18", "original-70", "original-74", "original-91", "original-25", "original-17", "original-73", "original-92", "original-42", "original-79", "original-102", "original-88", "original-47", "original-53", "original-7", "original-101", "original-81", "original-84", "original-94", "original-78", "original-97", "original-89", "original-82", "original-60", "original-90", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103121/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..87bd6bcc2f13200f995a4a6fa9b5c33594494582
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-20"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-19"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-16"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-14"]}, {"id": 5, "name": "switch", "text": "switch", "objs": ["original-11"]}, {"id": 6, "name": "switch", "text": "switch", "objs": ["original-9", "original-22"]}, {"id": 7, "name": "switch", "text": "switch", "objs": ["original-8", "original-23"]}, {"id": 8, "name": "switch", "text": "switch", "objs": ["original-12"]}, {"id": 9, "name": "switch", "text": "switch", "objs": ["original-13"]}, {"id": 10, "name": "switch", "text": "switch", "objs": ["original-10"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103121/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e9505b505e9768f41ffa0cbf65694efb9ba97abb
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/semantics.txt
@@ -0,0 +1,11 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 hinge knob
+link_6 hinge knob
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4441d0390b657f34a2a4943d056da5649281be25
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-10.obj
@@ -0,0 +1,140 @@
+# SSTK version 0.8.0
+# 10
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..556ae08b269f306bd3fd472d6c268bffc79bb0b5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
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+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.png
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93ac97e7ebebeaeadb0ca8c9c8687509061ceae7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-100.obj
@@ -0,0 +1,594 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-12.obj
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index 0000000000000000000000000000000000000000..94ec5e8bb81594c422a4852bc233dd35a95f2f3c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-13.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-13.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-13.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-13.obj
new file mode 100644
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+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-13.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-14.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17d56999dcd408f74332a85b0082969560099711
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+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-14.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-14.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-14.obj
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84249beaa83058d0d8c9b438b15041de2402fe7b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-15.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-16.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17d56999dcd408f74332a85b0082969560099711
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-16.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f387ec73bc024eac3ae40fa865d9ce969b85208a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-17.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-17.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de5a8acc3ac0bd48ec8800f39a5de64b867832f
--- /dev/null
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-26.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-26.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-27.obj
@@ -0,0 +1,52 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o #ID23
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8 0.8 0.8 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..994a913bf0283fc065dc8fb02d23f162f8dd3838
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-28.obj
@@ -0,0 +1,1395 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-29.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-29.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-29.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15c80560a87d46a7c9e47ba87badef347c5a6388
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e8beeb8a2c7ff329561d1266330f6b0b86169a9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b420d18ac3826a391b90cee1764b9ec71c500a95
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-36.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac9af6aa0a191b06b39ca87ef75f05f60524027e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-41.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-41.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..48b6c3bb25e44a5a4bb84c62ff42f71e695bf30e
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da92e1f78ac133c68ee685b008bd0a538efacbd0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-42.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-43.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-44.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-44.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-44.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-44.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5234af9670e73769342f4a08e96dd3f869b2b4f8
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25963f84adb46786662f214eeb9e4f5253fc23e1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-45.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o #ID132
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+v -0.053172 0.380287 0.524591
+v 0.000135 0.380287 0.524591
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ddf7821c18b6093784b6aa133858460d4158d873
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-46.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o #ID140
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73bda3190ddb1aca62d7f0f2356bb3f170e3a5e4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-47.obj
@@ -0,0 +1,88 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o #ID146
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41bc05ab452fa0488eab30591d42620f6bdbfa8b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-48.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o #ID154
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14da07d95a0ab3d75f8ba971d479e499969c6a10
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-49.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o #ID160
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6ac86fd923f6c4d92f9d731735daa4b7b4dd01ae
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4038d740940e86c11eff0813b75667748bd5a788
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-5.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o #ID456
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..555c6759cc07198f3c46edadde51a2f83a9b8b17
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-50.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o #ID166
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eab1790851fe073accbcc59c8578488b22c831b9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-51.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o #ID172
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39ea7ccffe8fee9a1d57dd7b01bf10f382c971b1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-52.obj
@@ -0,0 +1,82 @@
+# SSTK version 0.8.0
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+mtllib original-52.mtl
+o #ID178
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+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-63.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba8c892cbbf924629105f4705575b8fc71ea34a3
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-63.obj
@@ -0,0 +1,18 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-64.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-64.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-64.obj
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-65.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56316fe7d679edd995d76f4198d545ac15492df0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-65.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c212b874d38a5b58eda92d271ada8f48ad26c9c1
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-66.obj
@@ -0,0 +1,52 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-67.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-67.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-67.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-67.obj
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+mtllib original-67.mtl
+o #ID270
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e61534ba2482d776059df12a52d638e1f05fe790
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-68.obj
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+# SSTK version 0.8.0
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+mtllib original-68.mtl
+o #ID276
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5ea73793cc1db4aa2943e794accc247eb086d72
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-69.obj
@@ -0,0 +1,12 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-7.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-7.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-7.obj
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new file mode 100644
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+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-70.obj
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+# 70
+mtllib original-70.mtl
+o #ID288
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-71.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-71.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-71.obj
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+# 71
+mtllib original-71.mtl
+o #ID294
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-72.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-72.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-72.obj
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+# 72
+mtllib original-72.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-73.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-73.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-73.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-74.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-74.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-74.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-75.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-75.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-75.obj
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-76.obj
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--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca0da6277fd91a1a4b9d748030500a21f8b0f5b7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-80.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
+o #ID348
+v -0.083421 0.346667 0.526965
+v -0.086952 0.347756 0.526965
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d0ff03e9248fe7fdb2b24f10ac6b5a079922fe6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-81.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 81
+mtllib original-81.mtl
+o #ID354
+v -0.083017 0.327429 0.526965
+v -0.086560 0.326379 0.526965
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..402bb1507d1dac680c737267f07cb9e45350b156
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-82.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 82
+mtllib original-82.mtl
+o #ID360
+v -0.036598 0.348260 0.526965
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfc52d8dfd87d7c6e346e2f3b34e835ba4b980c9
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-83.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o #ID366
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c505ed7a103c24ffc1bc3fffcc00cf1912991bc2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-84.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o #ID372
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10e80b19acd1852db4345fca636e8e39e16989d0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-85.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o #ID378
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be320d9fbc3badff859dfa2b09d2b76e229812a2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-86.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o #ID384
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abbd5325dedef04478400fea5b3f361c9d9bda20
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-87.obj
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+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o #ID390
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2d5b9d23c22be900b1c52bfc7de27ea91c86042
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2eab15489db6b010380c60910bb70cef59e93e7c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-88.obj
@@ -0,0 +1,34 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o #ID396
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11a403c7f996733c3776b6082146378a21292df5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-89.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o #ID402
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.mtl
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52171dfd4cb4a08ee38735e7a6d474bf2125a447
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-9.obj
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+mtllib original-9.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-97.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..556ae08b269f306bd3fd472d6c268bffc79bb0b5
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-97.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3001de5991dcf777d35a18ba84718752acd0761
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.mtl b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..556ae08b269f306bd3fd472d6c268bffc79bb0b5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.5764705882352941 0.5764705882352941 0.5764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_1.png
+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.obj b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..308d7f21a78ea633e4baec8475b393984b0e8332
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103121/textured_objs/original-99.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 99
+mtllib original-99.mtl
+o #ID611
+v 0.001465 -0.434176 0.527611
+v 0.003920 -0.434176 0.526965
+v 0.001465 -0.434176 0.526965
+v 0.003920 -0.434176 0.527611
+v 0.003920 -0.434176 0.527611
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+v 0.003920 -0.434176 0.526965
+v 0.001465 -0.434176 0.526965
+v 0.002692 -0.431979 0.526965
+v 0.001465 -0.434176 0.527611
+v 0.001465 -0.434176 0.526965
+v 0.002692 -0.431979 0.527611
+v 0.002692 -0.431979 0.527611
+v 0.002692 -0.431979 0.526965
+v 0.001465 -0.434176 0.527611
+v 0.001465 -0.434176 0.526965
+v 0.002692 -0.431979 0.527611
+v 0.003920 -0.434176 0.526965
+v 0.003920 -0.434176 0.527611
+v 0.002692 -0.431979 0.526965
+v 0.002692 -0.431979 0.526965
+v 0.002692 -0.431979 0.527611
+v 0.003920 -0.434176 0.526965
+v 0.003920 -0.434176 0.527611
+vt 0.5629247 0.1175195
+vt 0.5461993 0.1175195
+vt 0.554562 0.142112
+vn 0 1 0
+vn 0.8729434683600727 -0.48782138231886313 0
+vn -0.8729434683600727 -0.48782138231886313 0
+vn 0 -1 0
+vn -0.8729434683600727 0.48782138231886313 0
+vn 0.8729434683600727 0.48782138231886313 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+usemtl material_1_0
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/bounding_box.json b/data/PartNet-Mobility/CoffeeMachine/103123/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..134a6c4dbb7a60ae87bdbc255de7dae40470dfbe
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.63719, -0.378948, -0.706262], "max": [0.652529, 0.606796, 0.563916]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/meta.json b/data/PartNet-Mobility/CoffeeMachine/103123/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4905d76d7f6c50bed7aee60f0f0ef5e12a9cee25
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/meta.json
@@ -0,0 +1 @@
+{"user_id": "kaichun", "model_cat": "CoffeeMachine", "model_id": "u7129e56f-19df-4f51-b818-a284c9e466b4", "version": "1", "anno_id": "3123", "time_in_sec": "26"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/mobility.urdf b/data/PartNet-Mobility/CoffeeMachine/103123/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8538efd391bb7dbe58d7936454c57420aa4f382f
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/mobility.urdf
@@ -0,0 +1,1537 @@
+<?xml version="1.0" ?>
+<robot name="partnet_u7129e56f-19df-4f51-b818-a284c9e466b4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="button-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_0"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_1">
+		<visual name="button-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_1"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_2">
+		<visual name="button-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_2"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_3">
+		<visual name="button-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_3"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.008000000000000007"/>
+	</joint>
+	<link name="link_4">
+		<visual name="button-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_4"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_5">
+		<visual name="button-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_5"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_6">
+		<visual name="button-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_6"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_7">
+		<visual name="button-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_7"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_8">
+		<visual name="button-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_8"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_9">
+		<visual name="button-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 0 -1"/>
+		<child link="link_9"/>
+		<parent link="link_11"/>
+		<limit lower="0" upper="0.004"/>
+	</joint>
+	<link name="link_10">
+		<visual name="knob-11">
+			<origin xyz="-0.33111861595049297 -0.283039 -0.08867970744472213"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33111861595049297 -0.283039 -0.08867970744472213"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="continuous">
+		<origin xyz="0.33111861595049297 0.283039 0.08867970744472213"/>
+		<axis xyz="-0.258701323718886 0 0.9659573619503588"/>
+		<child link="link_10"/>
+		<parent link="link_11"/>
+	</joint>
+	<link name="link_11">
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-123.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-132.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-126.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-119.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-124.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-134.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-130.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-137.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-139.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-12">
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+			<geometry>
+				<mesh filename="textured_objs/original-140.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-135.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-136.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-133.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_11"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/mobility_v2.json b/data/PartNet-Mobility/CoffeeMachine/103123/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec8eb6d2ed4b91bb349ff15f359b3f9ec8feda5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":11,"joint":"slider","name":"button","parts":[{"id":1,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":1,"parent":11,"joint":"slider","name":"button","parts":[{"id":2,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":2,"parent":11,"joint":"slider","name":"button","parts":[{"id":3,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":3,"parent":11,"joint":"slider","name":"button","parts":[{"id":4,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.008000000000000007,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":4,"parent":11,"joint":"slider","name":"button","parts":[{"id":5,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":5,"parent":11,"joint":"slider","name":"button","parts":[{"id":6,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":6,"parent":11,"joint":"slider","name":"button","parts":[{"id":7,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":7,"parent":11,"joint":"slider","name":"button","parts":[{"id":8,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":8,"parent":11,"joint":"slider","name":"button","parts":[{"id":9,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":9,"parent":11,"joint":"slider","name":"button","parts":[{"id":10,"name":"button"}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":-0.004,"noLimit":false,"rotates":false,"noRotationLimit":false,"rotationLimit":0}}},{"id":10,"parent":11,"joint":"hinge","name":"knob","parts":[{"id":11,"name":"knob"}],"jointData":{"axis":{"origin":[0.33111861595049297,0.283039,0.08867970744472213],"direction":[-0.258701323718886,0,0.9659573619503588]},"limit":{"a":0,"b":0,"noLimit":true}}},{"id":11,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":12,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/result.json b/data/PartNet-Mobility/CoffeeMachine/103123/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5424adc1515551a7c821a14af316407054c1cc0
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/result.json
@@ -0,0 +1 @@
+[{"text": "CoffeeMachine", "name": "CoffeeMachine", "id": 0, "children": [{"text": "button", "name": "button", "id": 1, "objs": ["original-50"]}, {"text": "button", "name": "button", "id": 2, "objs": ["original-58"]}, {"text": "button", "name": "button", "id": 3, "objs": ["original-66"]}, {"text": "button", "name": "button", "id": 4, "objs": ["original-55"]}, {"text": "button", "name": "button", "id": 5, "objs": ["original-76"]}, {"text": "button", "name": "button", "id": 6, "objs": ["original-71"]}, {"text": "button", "name": "button", "id": 7, "objs": ["original-69"]}, {"text": "button", "name": "button", "id": 8, "objs": ["original-68"]}, {"text": "button", "name": "button", "id": 9, "objs": ["original-62"]}, {"text": "button", "name": "button", "id": 10, "objs": ["original-63"]}, {"text": "knob", "name": "knob", "id": 11, "objs": ["original-32"]}, {"text": "base_body", "name": "base_body", "id": 12, "objs": ["original-29", "original-103", "original-100", "original-123", "original-21", "original-30", "original-132", "original-36", "original-126", "original-119", "original-41", "original-28", "original-124", "original-96", "original-64", "original-134", "original-43", "original-52", "original-83", "original-22", "original-26", "original-117", "original-110", "original-107", "original-104", "original-128", "original-33", "original-2", "original-130", "original-137", "original-139", "original-44", "original-112", "original-106", "original-16", "original-86", "original-140", "original-109", "original-13", "original-9", "original-125", "original-45", "original-35", "original-138", "original-93", "original-61", "original-39", "original-120", "original-5", "original-114", "original-27", "original-87", "original-113", "original-111", "original-6", "original-48", "original-116", "original-85", "original-122", "original-56", "original-135", "original-108", "original-99", "original-136", "original-127", "original-133", "original-23", "original-98", "original-67", "original-11", "original-131", "original-38", "original-18", "original-74", "original-118", "original-91", "original-25", "original-17", "original-73", "original-12", "original-92", "original-42", "original-79", "original-102", "original-24", "original-20", "original-88", "original-115", "original-95", "original-53", "original-105", "original-101", "original-81", "original-84", "original-121", "original-94", "original-78", "original-97", "original-89", "original-10", "original-14", "original-82", "original-129", "original-60", "original-19", "original-90", "original-40", "original-46"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/result_original.json b/data/PartNet-Mobility/CoffeeMachine/103123/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..333986f138a6e9bd285aa7819facf1ba658d3534
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "CoffeeMachine", "text": "CoffeeMachine", "children": [{"id": 1, "name": "button", "text": "button", "objs": ["original-50"]}, {"id": 2, "name": "button", "text": "button", "objs": ["original-58"]}, {"id": 3, "name": "button", "text": "button", "objs": ["original-66"]}, {"id": 4, "name": "button", "text": "button", "objs": ["original-55"]}, {"id": 5, "name": "button", "text": "button", "objs": ["original-76"]}, {"id": 6, "name": "button", "text": "button", "objs": ["original-71"]}, {"id": 7, "name": "button", "text": "button", "objs": ["original-69"]}, {"id": 8, "name": "button", "text": "button", "objs": ["original-68"]}, {"id": 9, "name": "button", "text": "button", "objs": ["original-62"]}, {"id": 10, "name": "button", "text": "button", "objs": ["original-63"]}, {"id": 11, "name": "switch", "text": "switch", "objs": ["original-32"]}]}]
\ No newline at end of file
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/semantics.txt b/data/PartNet-Mobility/CoffeeMachine/103123/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9faa8f7156ee1be59692d85990a2353b0887c7e2
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/semantics.txt
@@ -0,0 +1,12 @@
+link_0 slider button
+link_1 slider button
+link_2 slider button
+link_3 slider button
+link_4 slider button
+link_5 slider button
+link_6 slider button
+link_7 slider button
+link_8 slider button
+link_9 slider button
+link_10 hinge knob
+link_11 free coffee_machine_body
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85fd3fc78037271006c11db84d596ca9cea8fa6a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-10.obj
@@ -0,0 +1,125 @@
+# SSTK version 0.8.0
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+mtllib original-10.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a46180d1a5a4513b2a1d5bffbd746b752fb8d6
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-100.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o #ID576
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4528d551d6ce9137df0f6b3b7aeb0e9b7cef7c29
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-101.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o #ID582
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c0934a0b87610e33ae5d5ee16a15817bf084d9e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-102.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o #ID588
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.mtl
@@ -0,0 +1,14 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9fa5fe7d6b9ddce66658cc87d35c70da46cdd76
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-103.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o #ID594
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52c6a9ee30445a3ddbbeb70c82464d1ff8d62670
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-104.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce512b57659a27f9360f438e1023a9bdcd9ad772
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-105.obj
@@ -0,0 +1,44 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-106.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-106.mtl
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+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-106.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-110.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-110.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-110.obj
new file mode 100644
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--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-110.obj
@@ -0,0 +1,40 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14b9a2e9b4ec058087afe1c0b8f567bf102c159c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-111.obj
@@ -0,0 +1,44 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-112.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-112.mtl
new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-112.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d537b754b71de68848aa86880e6a6c613c5a718
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-112.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
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+mtllib original-112.mtl
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-113.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09ceb1e77c96aa17c4aacabed9a3a6e86edda2d7
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-113.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 113
+mtllib original-113.mtl
+o #ID654
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new file mode 100644
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-114.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84f8a3485a9da38abce3a529daaf9560a5e9d06c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-114.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 114
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new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-115.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-115.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-115.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137dd41e37b9bf392d62320420952df841c60566
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-115.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 115
+mtllib original-115.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-116.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-116.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..905175f5daba315a5b0d7c10c726616734b6460a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-116.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
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+mtllib original-116.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-117.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-117.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-117.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-117.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4348cb4cb9d12f2d77f8610e0cc4c8f4294ca4ba
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-117.obj
@@ -0,0 +1,44 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85575b6848e065759f5db7290366d24016a5dbd4
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-118.obj
@@ -0,0 +1,36 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d0a445d5de5e57189e85e2b8886b420f518c33a
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-119.obj
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+# SSTK version 0.8.0
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+mtllib original-119.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-12.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07dd17732f391ddecb1b448a72a5b8835733ebc5
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-12.obj
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e97f16b2dd5ce638cc1cbe93538a381e3f6ea67e
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-120.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 120
+mtllib original-120.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.obj
new file mode 100644
index 0000000000000000000000000000000000000000..247c69858ddc33d148edfc1154f4a40a37d6864c
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-121.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 121
+mtllib original-121.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..794e0b4a5411ba04ac31c1abf5d4a08aafc8bd17
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-122.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 122
+mtllib original-122.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-123.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cac347c1de635b3003879c75dc47b54bcdba470
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-123.obj
@@ -0,0 +1,44 @@
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+mtllib original-123.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-124.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13f2d1e80d5e74130ab0303e93301014964ef758
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-124.obj
@@ -0,0 +1,36 @@
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.mtl
@@ -0,0 +1,14 @@
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+
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+
diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c9da3ad32328b4d64d75ab998bccadae15f912b
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-125.obj
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+# SSTK version 0.8.0
+# 125
+mtllib original-125.mtl
+o #ID726
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.obj b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..408c12570ab34ce79947a0218004616772bfe355
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-126.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 126
+mtllib original-126.mtl
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diff --git a/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-127.mtl b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/data/PartNet-Mobility/CoffeeMachine/103123/textured_objs/original-127.mtl
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