diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-27.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443e7af5e13adfeec4d0e7aeb6cac975adacac34
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-27.obj
@@ -0,0 +1,575 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-28.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-28.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-28.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f79cf5636225bb1537f8b538f4095174e7b6539
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82680253dc2dca4c452e7309303535347dcdb667
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-29.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..558e05d0f84c75cf707c49aa3b9f0f6d624e93a7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-3.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daef27186a845453b2cf75c99b248d6a19996d3e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-30.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86d45852e875f86c7d10cb167fe3cf518965ab38
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-31.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.mtl
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+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99b4192bdbeee813054dd83e661f9780b02ef1f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-32.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-33.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-33.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d43fc6d003add1fa351252a4c81dc43d2297a9
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-34.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-34.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38ee1dfe4db65afb1b4a9a89500e05a2ba420d70
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-35.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-35.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d7a47a3e9f24936a12a48f96e3e44cf33b97826
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66bcdfc1139fab71fe09ce59bcb93506e5e0e0e0
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-36.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c418536b49c4358b085502675f958026b3315bd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-37.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.mtl
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+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7dae41dff1161eea2d829ec6db5efacd6045f45
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-38.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-39.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-39.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93417c635821880e81dd6bc7357750b915c941e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03aad524f47c1dddceed074dff33e1d49162c7cf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-4.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4aea27e1977162583be157f6b312187cc4006ed6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-40.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18b6c5f92a43519a418c6ca963cba1eb25d13a9d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-41.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1857de4267064042fa6f47ef52c5a53f471ba970
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-42.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce39e8e73f53f19916b8e9c3494e74a0e0b2757d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-43.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-44.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-44.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-44.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..484e5c225c2ebd784db1f8633b02216d783189e7
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..959c6e7300b80e77a3e5b2bf325a1e7d2366ef03
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-45.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-46.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-46.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/Keyboard/12834/textured_objs/original-46.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ced15139d31607e4f115eca4622807c96f9cc3d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-46.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..197abbca2cbd33732fb17da3dc36781ff4698dce
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-47.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4fe1e33e1597db289c909afe7b9763606288bb9c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-48.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-49.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-49.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14a1e0e1529248bd6f1b0e804e91e966ce84167a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-5.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-5.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-5.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f00c04836e637fc98e68d0a33d8245a4a582f15
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8e37a99ba60d223c4845a56c8d0caf995d4910f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-50.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e6ac12700582138f17859925453c8141f3de1eec
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-51.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eb1cb11c9db6c1a126c51908f464adfc59b6612
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-52.obj
@@ -0,0 +1,575 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0ec2cc478d45a9d1690c5f1dcfbaad62aadcfe24
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-53.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33593a0c1fcf2b4bf9833c5a7e7e3aa891e23670
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-54.obj
@@ -0,0 +1,575 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-55.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-55.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-55.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..660a9171abba8c3eca0e3ca4e9438b5e094c7d7e
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-56.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-56.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-56.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f6346eafda5311a44974e7fc1dd153d43a75918
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-57.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-57.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-57.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2204a6aabd1549d788e68d0a1f2aac0b06a9caa2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ff7ccc3e6fdf7265190217518548803036c6569
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-58.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db5341f2d67124e9b6121ea0869c65d9da4bef33
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-59.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6aa119cc19b61186962ff66fe9abc1e66d729d1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-6.obj
@@ -0,0 +1,575 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-60.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-60.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-60.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c79fa633c6bf03f0ef931ddb4093df5ed547096
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8efc4bb24611809414958513a93e0641509933c6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-61.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39bc69e1c8d477adbd4cc0bd94bb5947881a9875
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-62.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f6d8c499d3f7617260fc88d28c3b2742bfc78f9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-63.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96e841c61a05d32b2e55852276d1fc2f0d93be41
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-64.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b452e5f8dc70a4071115c0066e4c75dbebaf8adb
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-65.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-66.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-66.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935e2a0b4e8d59285acd76afc9b3716e7bffbd8c
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d212556310f7ec31ce3928beb4580f283a8f0cb1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-67.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e868c67767deaa9bdce11b02e5b65b9e6af072f7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-68.obj
@@ -0,0 +1,575 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o Group69/mesh199/mesh199-geometry#mesh199-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-69.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-69.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a05d9b44a01760558c7176fac0c26c2cd812d2b2
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d379e8d97f9e483fa19ae717033a35fe39467e64
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-7.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76a18f6d568d58a6e49b3c156cd698c350b9b9d5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-70.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
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+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d8b7dfae123a89e47b8257fcff8a7443513def4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-71.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07540994277803b57abed4f8773e8b0bd624731e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-72.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..997041fff05c0e26391319ad849462418e33a995
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-73.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa877f8e4eb45da506f0f807db7de2b3e100dec8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-74.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bb2638fa4f5678de10637ca241e4c4ffbcae5b6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-75.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-76.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-76.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-76.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8817706fce5587b75229bf4ac06e5bd8fa5fc8b
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a68b4db74c0cb4d12be9b646790d632c93b39301
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-77.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d232a4194763935eee1149ef77dbfd09b484ff62
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-78.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8583dc6b729122eadec2c74799de265e48204f62
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-79.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0fdd0d2a13e2685d3944589f6d01ff727b7fa005
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-8.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2dd4ad3cded42e4b1e61b71efdc80b55302cb800
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-80.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-81.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-81.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/Keyboard/12834/textured_objs/original-81.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c57ec81cb0470c4adb27c686a06832fd2a570c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-81.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c21ae81fd72e59a369b3f0dae77071cb5b54e6e3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-82.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..daad8aa46104707006413ae77e36377c107649e9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-83.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4753a90547e1d4231a05fb72ddbfd7204470
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
+newmtl material_1_0
+illum 3
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55f5cc1d5f4e3f13d48d5fc56d9532990f9bce24
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-84.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-85.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-85.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6902baaaf8801681c1f14f34e13ebf9a94e10a0
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77e050fc8baf60621bdab15c57bc1947bac03b3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-86.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950dfdb884ba589254f8744bbe3b6e65813a3e00
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-87.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82ca87f1a85825c9bba8de3fc44ab10d5730f8dc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-88.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f94bbd1077be7bbfca95c52a0e5015973c6b5de9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-89.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0153629a2fcecad25809ba76144eff0df0f6009
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-9.obj
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+# SSTK version 0.8.0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..522fe80fd123fbadae13f5f536579757726e215e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-90.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6dc45eb104927e083e53edc3dd2437db8a98be8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-91.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-92.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-92.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-92.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7cf229beb5a18577f2d4f11f6d9ca499e0d362a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f5e2830bc463bd8b416929c5aed78ce2d0f702
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-93.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e40a395b87506b00513c29447046bebea2af5a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-94.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.mtl
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+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6722a12c8c5d6d2442a9b56c88478b95b459420
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-95.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-96.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41ae2c7ce39729ee197b8d9af6dcfcdc72d7a0b3
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-97.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-97.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-97.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160488235170ef7b45e50a63b734558bfa098335
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f0fd26acb23707164ba593f12c1c597533ff8bd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-98.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.mtl b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.obj b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6e274b1978b94ec636503cd91645bd2ae27a823
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/textured_objs/original-99.obj
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diff --git a/data/PartNet-Mobility/Keyboard/12834/tree_hier.html b/data/PartNet-Mobility/Keyboard/12834/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..3fe84c4bef0e9ea2dc64b186699ea90869e10d19
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame Frame</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td><p>110 cord Cord</p><a href="parts_render/110.png"><img src="parts_render/110.png" width="100px" height="100px"/></a></td><td></td><td><p>111 key Key</p><a href="parts_render/111.png"><img src="parts_render/111.png" width="100px" height="100px"/></a></td><td></td><td><p>112 key Key</p><a href="parts_render/112.png"><img src="parts_render/112.png" width="100px" height="100px"/></a></td><td></td><td><p>113 key Key</p><a href="parts_render/113.png"><img src="parts_render/113.png" width="100px" height="100px"/></a></td><td></td><td><p>114 key Key</p><a href="parts_render/114.png"><img src="parts_render/114.png" width="100px" height="100px"/></a></td><td></td><td><p>115 key Key</p><a href="parts_render/115.png"><img src="parts_render/115.png" width="100px" height="100px"/></a></td><td></td><td><p>116 key Key</p><a href="parts_render/116.png"><img src="parts_render/116.png" width="100px" height="100px"/></a></td><td></td><td><p>117 key Key</p><a href="parts_render/117.png"><img src="parts_render/117.png" width="100px" height="100px"/></a></td><td></td><td><p>118 key Key</p><a href="parts_render/118.png"><img src="parts_render/118.png" width="100px" height="100px"/></a></td><td></td><td><p>119 key Key</p><a href="parts_render/119.png"><img src="parts_render/119.png" width="100px" height="100px"/></a></td><td></td><td><p>120 key Key</p><a href="parts_render/120.png"><img src="parts_render/120.png" width="100px" height="100px"/></a></td><td></td><td><p>121 key Key</p><a href="parts_render/121.png"><img src="parts_render/121.png" width="100px" height="100px"/></a></td><td></td><td><p>122 key Key</p><a href="parts_render/122.png"><img src="parts_render/122.png" width="100px" height="100px"/></a></td><td></td><td><p>123 key Key</p><a href="parts_render/123.png"><img src="parts_render/123.png" width="100px" height="100px"/></a></td><td></td><td><p>124 key Key</p><a href="parts_render/124.png"><img src="parts_render/124.png" width="100px" height="100px"/></a></td><td></td><td><p>125 key Key</p><a href="parts_render/125.png"><img src="parts_render/125.png" width="100px" height="100px"/></a></td><td></td><td><p>126 key Key</p><a href="parts_render/126.png"><img src="parts_render/126.png" width="100px" height="100px"/></a></td><td></td><td><p>127 key Key</p><a href="parts_render/127.png"><img src="parts_render/127.png" width="100px" height="100px"/></a></td><td></td><td><p>128 key Key</p><a href="parts_render/128.png"><img src="parts_render/128.png" width="100px" height="100px"/></a></td><td></td><td><p>129 key Key</p><a href="parts_render/129.png"><img src="parts_render/129.png" width="100px" height="100px"/></a></td><td></td><td><p>130 key Key</p><a href="parts_render/130.png"><img src="parts_render/130.png" width="100px" height="100px"/></a></td><td></td><td><p>131 key Key</p><a href="parts_render/131.png"><img src="parts_render/131.png" width="100px" height="100px"/></a></td><td></td><td><p>132 key Key</p><a href="parts_render/132.png"><img src="parts_render/132.png" width="100px" height="100px"/></a></td><td></td><td><p>133 key Key</p><a href="parts_render/133.png"><img src="parts_render/133.png" width="100px" height="100px"/></a></td><td></td><td><p>134 key Key</p><a href="parts_render/134.png"><img src="parts_render/134.png" width="100px" height="100px"/></a></td><td></td><td><p>135 key Key</p><a href="parts_render/135.png"><img src="parts_render/135.png" width="100px" height="100px"/></a></td><td></td><td><p>136 key Key</p><a href="parts_render/136.png"><img src="parts_render/136.png" width="100px" height="100px"/></a></td><td></td><td><p>137 key Key</p><a href="parts_render/137.png"><img src="parts_render/137.png" width="100px" height="100px"/></a></td><td></td><td><p>138 key Key</p><a href="parts_render/138.png"><img src="parts_render/138.png" width="100px" height="100px"/></a></td><td></td><td><p>139 key Key</p><a href="parts_render/139.png"><img src="parts_render/139.png" width="100px" height="100px"/></a></td><td></td><td><p>140 key Key</p><a href="parts_render/140.png"><img src="parts_render/140.png" width="100px" height="100px"/></a></td><td></td><td><p>141 key Key</p><a href="parts_render/141.png"><img src="parts_render/141.png" width="100px" height="100px"/></a></td><td></td><td><p>142 key Key</p><a href="parts_render/142.png"><img src="parts_render/142.png" width="100px" height="100px"/></a></td><td></td><td><p>143 key Key</p><a href="parts_render/143.png"><img src="parts_render/143.png" width="100px" height="100px"/></a></td><td></td><td><p>144 key Key</p><a href="parts_render/144.png"><img src="parts_render/144.png" width="100px" height="100px"/></a></td><td></td><td><p>145 key Key</p><a href="parts_render/145.png"><img src="parts_render/145.png" width="100px" height="100px"/></a></td><td></td><td><p>146 key Key</p><a href="parts_render/146.png"><img src="parts_render/146.png" width="100px" height="100px"/></a></td><td></td><td><p>147 key Key</p><a href="parts_render/147.png"><img src="parts_render/147.png" width="100px" height="100px"/></a></td><td></td><td><p>148 key Key</p><a href="parts_render/148.png"><img src="parts_render/148.png" width="100px" height="100px"/></a></td><td></td><td><p>149 key Key</p><a href="parts_render/149.png"><img src="parts_render/149.png" width="100px" height="100px"/></a></td><td></td><td><p>150 key Key</p><a href="parts_render/150.png"><img src="parts_render/150.png" width="100px" height="100px"/></a></td><td></td><td><p>151 key Key</p><a href="parts_render/151.png"><img src="parts_render/151.png" width="100px" height="100px"/></a></td><td></td><td><p>152 key Key</p><a href="parts_render/152.png"><img src="parts_render/152.png" width="100px" height="100px"/></a></td><td></td><td><p>153 key Key</p><a href="parts_render/153.png"><img src="parts_render/153.png" width="100px" height="100px"/></a></td><td></td><td><p>154 key Key</p><a href="parts_render/154.png"><img src="parts_render/154.png" width="100px" height="100px"/></a></td><td></td><td><p>155 key Key</p><a href="parts_render/155.png"><img src="parts_render/155.png" width="100px" height="100px"/></a></td><td></td><td><p>156 key Key</p><a href="parts_render/156.png"><img src="parts_render/156.png" width="100px" height="100px"/></a></td><td></td><td><p>157 key Key</p><a href="parts_render/157.png"><img src="parts_render/157.png" width="100px" height="100px"/></a></td><td></td><td><p>158 key Key</p><a href="parts_render/158.png"><img src="parts_render/158.png" width="100px" height="100px"/></a></td><td></td><td><p>159 key Key</p><a href="parts_render/159.png"><img src="parts_render/159.png" width="100px" height="100px"/></a></td><td></td><td><p>160 key Key</p><a href="parts_render/160.png"><img src="parts_render/160.png" width="100px" height="100px"/></a></td><td></td><td><p>161 key Key</p><a href="parts_render/161.png"><img src="parts_render/161.png" width="100px" height="100px"/></a></td><td></td><td><p>162 key Key</p><a href="parts_render/162.png"><img src="parts_render/162.png" width="100px" height="100px"/></a></td><td></td><td><p>163 key Key</p><a href="parts_render/163.png"><img src="parts_render/163.png" width="100px" height="100px"/></a></td><td></td><td><p>164 key Key</p><a href="parts_render/164.png"><img src="parts_render/164.png" width="100px" height="100px"/></a></td><td></td><td><p>165 key Key</p><a href="parts_render/165.png"><img src="parts_render/165.png" width="100px" height="100px"/></a></td><td></td><td><p>166 key Key</p><a href="parts_render/166.png"><img src="parts_render/166.png" width="100px" height="100px"/></a></td><td></td><td><p>167 key Key</p><a href="parts_render/167.png"><img src="parts_render/167.png" width="100px" height="100px"/></a></td><td></td><td><p>168 key Key</p><a href="parts_render/168.png"><img src="parts_render/168.png" width="100px" height="100px"/></a></td><td></td><td><p>169 key Key</p><a href="parts_render/169.png"><img src="parts_render/169.png" width="100px" height="100px"/></a></td><td></td><td><p>170 key Key</p><a href="parts_render/170.png"><img src="parts_render/170.png" width="100px" height="100px"/></a></td><td></td><td><p>171 key Key</p><a href="parts_render/171.png"><img src="parts_render/171.png" width="100px" height="100px"/></a></td><td></td><td><p>172 key Key</p><a href="parts_render/172.png"><img src="parts_render/172.png" width="100px" height="100px"/></a></td><td></td><td><p>173 key Key</p><a href="parts_render/173.png"><img src="parts_render/173.png" width="100px" height="100px"/></a></td><td></td><td><p>174 key Key</p><a href="parts_render/174.png"><img src="parts_render/174.png" width="100px" height="100px"/></a></td><td></td><td><p>175 key Key</p><a href="parts_render/175.png"><img src="parts_render/175.png" width="100px" height="100px"/></a></td><td></td><td><p>176 key Key</p><a href="parts_render/176.png"><img src="parts_render/176.png" width="100px" height="100px"/></a></td><td></td><td><p>177 key Key</p><a href="parts_render/177.png"><img src="parts_render/177.png" width="100px" height="100px"/></a></td><td></td><td><p>178 key Key</p><a href="parts_render/178.png"><img src="parts_render/178.png" width="100px" height="100px"/></a></td><td></td><td><p>179 key Key</p><a href="parts_render/179.png"><img src="parts_render/179.png" width="100px" height="100px"/></a></td><td></td><td><p>180 key Key</p><a href="parts_render/180.png"><img src="parts_render/180.png" width="100px" height="100px"/></a></td><td></td><td><p>181 key Key</p><a href="parts_render/181.png"><img src="parts_render/181.png" width="100px" height="100px"/></a></td><td></td><td><p>182 key Key</p><a href="parts_render/182.png"><img src="parts_render/182.png" width="100px" height="100px"/></a></td><td></td><td><p>183 key Key</p><a href="parts_render/183.png"><img src="parts_render/183.png" width="100px" height="100px"/></a></td><td></td><td><p>184 key Key</p><a href="parts_render/184.png"><img src="parts_render/184.png" width="100px" height="100px"/></a></td><td></td><td><p>185 key Key</p><a href="parts_render/185.png"><img src="parts_render/185.png" width="100px" height="100px"/></a></td><td></td><td><p>186 key Key</p><a href="parts_render/186.png"><img src="parts_render/186.png" width="100px" height="100px"/></a></td><td></td><td><p>187 key Key</p><a href="parts_render/187.png"><img src="parts_render/187.png" width="100px" height="100px"/></a></td><td></td><td><p>188 key Key</p><a href="parts_render/188.png"><img src="parts_render/188.png" width="100px" height="100px"/></a></td><td></td><td><p>189 key Key</p><a href="parts_render/189.png"><img src="parts_render/189.png" width="100px" height="100px"/></a></td><td></td><td><p>190 key Key</p><a href="parts_render/190.png"><img src="parts_render/190.png" width="100px" height="100px"/></a></td><td></td><td><p>191 key Key</p><a href="parts_render/191.png"><img src="parts_render/191.png" width="100px" height="100px"/></a></td><td></td><td><p>192 key Key</p><a href="parts_render/192.png"><img src="parts_render/192.png" width="100px" height="100px"/></a></td><td></td><td><p>193 key Key</p><a href="parts_render/193.png"><img src="parts_render/193.png" width="100px" height="100px"/></a></td><td></td><td><p>194 key Key</p><a href="parts_render/194.png"><img src="parts_render/194.png" width="100px" height="100px"/></a></td><td></td><td><p>195 key Key</p><a href="parts_render/195.png"><img src="parts_render/195.png" width="100px" height="100px"/></a></td><td></td><td><p>196 key Key</p><a href="parts_render/196.png"><img src="parts_render/196.png" width="100px" height="100px"/></a></td><td></td><td><p>197 key Key</p><a href="parts_render/197.png"><img src="parts_render/197.png" width="100px" height="100px"/></a></td><td></td><td><p>198 key Key</p><a href="parts_render/198.png"><img src="parts_render/198.png" width="100px" height="100px"/></a></td><td></td><td><p>199 key Key</p><a href="parts_render/199.png"><img src="parts_render/199.png" width="100px" height="100px"/></a></td><td></td><td><p>200 key Key</p><a href="parts_render/200.png"><img src="parts_render/200.png" width="100px" height="100px"/></a></td><td></td><td><p>201 key Key</p><a href="parts_render/201.png"><img src="parts_render/201.png" width="100px" height="100px"/></a></td><td></td><td><p>202 key Key</p><a href="parts_render/202.png"><img src="parts_render/202.png" width="100px" height="100px"/></a></td><td></td><td><p>203 key Key</p><a href="parts_render/203.png"><img src="parts_render/203.png" width="100px" height="100px"/></a></td><td></td><td><p>204 key Key</p><a href="parts_render/204.png"><img src="parts_render/204.png" width="100px" height="100px"/></a></td><td></td><td><p>205 key Key</p><a href="parts_render/205.png"><img src="parts_render/205.png" width="100px" height="100px"/></a></td><td></td><td><p>206 key Key</p><a href="parts_render/206.png"><img src="parts_render/206.png" width="100px" height="100px"/></a></td><td></td><td><p>207 key Key</p><a href="parts_render/207.png"><img src="parts_render/207.png" width="100px" height="100px"/></a></td><td></td><td><p>208 key Key</p><a href="parts_render/208.png"><img src="parts_render/208.png" width="100px" height="100px"/></a></td><td></td><td><p>209 key Key</p><a href="parts_render/209.png"><img src="parts_render/209.png" width="100px" height="100px"/></a></td><td></td><td><p>210 key Key</p><a href="parts_render/210.png"><img src="parts_render/210.png" width="100px" height="100px"/></a></td><td></td><td><p>211 key Key</p><a href="parts_render/211.png"><img src="parts_render/211.png" width="100px" height="100px"/></a></td><td></td><td><p>212 key Key</p><a href="parts_render/212.png"><img src="parts_render/212.png" width="100px" height="100px"/></a></td><td></td><td><p>213 key Key</p><a href="parts_render/213.png"><img src="parts_render/213.png" width="100px" height="100px"/></a></td><td></td><td><p>214 key Key</p><a href="parts_render/214.png"><img src="parts_render/214.png" width="100px" height="100px"/></a></td><td></td><td><p>215 key Key</p><a href="parts_render/215.png"><img src="parts_render/215.png" width="100px" height="100px"/></a></td><td></td><td><p>216 key Key</p><a href="parts_render/216.png"><img src="parts_render/216.png" width="100px" height="100px"/></a></td><td></td><td><p>217 key Key</p><a href="parts_render/217.png"><img src="parts_render/217.png" width="100px" height="100px"/></a></td><td></td><td><p>218 key Key</p><a href="parts_render/218.png"><img src="parts_render/218.png" width="100px" height="100px"/></a></td><td></td><td><p>219 key Key</p><a href="parts_render/219.png"><img src="parts_render/219.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12834/tree_hier_after_merging.html b/data/PartNet-Mobility/Keyboard/12834/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..604b1a14fe7c9f1543ac1ad9df1c3353027ccc55
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12834/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame frame</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key key</p><a href="parts_render_after_merging/79.png"><img src="parts_render_after_merging/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key key</p><a href="parts_render_after_merging/80.png"><img src="parts_render_after_merging/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key key</p><a href="parts_render_after_merging/81.png"><img src="parts_render_after_merging/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key key</p><a href="parts_render_after_merging/82.png"><img src="parts_render_after_merging/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key key</p><a href="parts_render_after_merging/83.png"><img src="parts_render_after_merging/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key key</p><a href="parts_render_after_merging/84.png"><img src="parts_render_after_merging/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key key</p><a href="parts_render_after_merging/85.png"><img src="parts_render_after_merging/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key key</p><a href="parts_render_after_merging/86.png"><img src="parts_render_after_merging/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key key</p><a href="parts_render_after_merging/87.png"><img src="parts_render_after_merging/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key key</p><a href="parts_render_after_merging/88.png"><img src="parts_render_after_merging/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key key</p><a href="parts_render_after_merging/89.png"><img src="parts_render_after_merging/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key key</p><a href="parts_render_after_merging/90.png"><img src="parts_render_after_merging/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key key</p><a href="parts_render_after_merging/91.png"><img src="parts_render_after_merging/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key key</p><a href="parts_render_after_merging/92.png"><img src="parts_render_after_merging/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key key</p><a href="parts_render_after_merging/93.png"><img src="parts_render_after_merging/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key key</p><a href="parts_render_after_merging/94.png"><img src="parts_render_after_merging/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key key</p><a href="parts_render_after_merging/95.png"><img src="parts_render_after_merging/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key key</p><a href="parts_render_after_merging/96.png"><img src="parts_render_after_merging/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key key</p><a href="parts_render_after_merging/97.png"><img src="parts_render_after_merging/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key key</p><a href="parts_render_after_merging/98.png"><img src="parts_render_after_merging/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key key</p><a href="parts_render_after_merging/99.png"><img src="parts_render_after_merging/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key key</p><a href="parts_render_after_merging/100.png"><img src="parts_render_after_merging/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key key</p><a href="parts_render_after_merging/101.png"><img src="parts_render_after_merging/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key key</p><a href="parts_render_after_merging/102.png"><img src="parts_render_after_merging/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key key</p><a href="parts_render_after_merging/103.png"><img src="parts_render_after_merging/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key key</p><a href="parts_render_after_merging/104.png"><img src="parts_render_after_merging/104.png" width="100px" height="100px"/></a></td><td></td><td><p>105 key key</p><a href="parts_render_after_merging/105.png"><img src="parts_render_after_merging/105.png" width="100px" height="100px"/></a></td><td></td><td><p>106 key key</p><a href="parts_render_after_merging/106.png"><img src="parts_render_after_merging/106.png" width="100px" height="100px"/></a></td><td></td><td><p>107 key key</p><a href="parts_render_after_merging/107.png"><img src="parts_render_after_merging/107.png" width="100px" height="100px"/></a></td><td></td><td><p>108 key key</p><a href="parts_render_after_merging/108.png"><img src="parts_render_after_merging/108.png" width="100px" height="100px"/></a></td><td></td><td><p>109 key key</p><a href="parts_render_after_merging/109.png"><img src="parts_render_after_merging/109.png" width="100px" height="100px"/></a></td><td></td><td><p>110 key key</p><a href="parts_render_after_merging/110.png"><img src="parts_render_after_merging/110.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12836/bounding_box.json b/data/PartNet-Mobility/Keyboard/12836/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad7e7e91dd2d8681bc1b65bc65be478b67ee224
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.902361, -0.034206, -0.373798], "max": [0.931089, 0.040963, 0.417736]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12836/meta.json b/data/PartNet-Mobility/Keyboard/12836/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b2094da27273a442cf86bc5fcde719018b72e3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/meta.json
@@ -0,0 +1 @@
+{"model_id": "225602289c7f68df9596b23e90d45a7", "anno_id": "12836", "user_id": "zhangyu", "time_in_sec": "94", "version": "2", "model_cat": "Keyboard"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12836/mobility.urdf b/data/PartNet-Mobility/Keyboard/12836/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d58dc552703ab85b281a52a402b8ec89eef6dbd1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/mobility.urdf
@@ -0,0 +1,2240 @@
+<?xml version="1.0" ?>
+<robot name="partnet_225602289c7f68df9596b23e90d45a7">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="frame-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_0"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_1">
+		<visual name="key-2">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_2">
+		<visual name="key-3">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_2"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_3">
+		<visual name="key-4">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_3"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_4">
+		<visual name="key-5">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_4"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_5">
+		<visual name="key-6">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_6">
+		<visual name="key-7">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_6"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_7">
+		<visual name="key-8">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_7"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_8">
+		<visual name="key-9">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_8"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_9">
+		<visual name="key-10">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_9"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_10">
+		<visual name="key-11">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_11">
+		<visual name="key-12">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_11"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_12">
+		<visual name="key-13">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_13">
+		<visual name="key-14">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_14">
+		<visual name="key-15">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_14"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_15">
+		<visual name="key-16">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_16">
+		<visual name="key-17">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_17">
+		<visual name="key-18">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_18">
+		<visual name="key-19">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_18"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_19">
+		<visual name="key-20">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_19"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_20">
+		<visual name="key-21">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_20"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_21">
+		<visual name="key-22">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-100.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_21"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-23">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_22" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_22"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-24">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_23" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_23"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-25">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_24"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-26">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_25"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-27">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_26" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_26"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-28">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_27" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_27"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-29">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_28" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_28"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-30">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_29" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_29"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_30">
+		<visual name="key-31">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_30" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_30"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_31">
+		<visual name="key-32">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_31" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_31"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_32">
+		<visual name="key-33">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_32" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_32"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_33">
+		<visual name="key-34">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_33" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_33"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_34">
+		<visual name="key-35">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_34" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_34"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_35">
+		<visual name="key-36">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_35"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_36">
+		<visual name="key-37">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_36"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_37">
+		<visual name="key-38">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_37"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_38">
+		<visual name="key-39">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_38"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-40">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_39" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_39"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-41">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_40" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_40"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_41">
+		<visual name="key-42">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_41" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_41"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_42">
+		<visual name="key-43">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_42" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_42"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_43">
+		<visual name="key-44">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_43" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_43"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_44">
+		<visual name="key-45">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_44" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_44"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_45">
+		<visual name="key-46">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_45" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_45"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_46">
+		<visual name="key-47">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_46" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_46"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_47">
+		<visual name="key-48">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_47" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_47"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-49">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_48" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_48"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-50">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_49" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_49"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-51">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_50" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_50"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_51">
+		<visual name="key-52">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_51" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_51"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_52">
+		<visual name="key-53">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_52" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_52"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_53">
+		<visual name="key-54">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_53" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_53"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_54">
+		<visual name="key-55">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_54" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_54"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_55">
+		<visual name="key-56">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_55" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_55"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_56">
+		<visual name="key-57">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_56" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_56"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_57">
+		<visual name="key-58">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_57" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_57"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_58">
+		<visual name="key-59">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_58" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_58"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_59">
+		<visual name="key-60">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_59" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_59"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-61">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_60" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_60"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_61">
+		<visual name="key-62">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_61" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_61"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_62">
+		<visual name="key-63">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-59.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_62" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_62"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_63">
+		<visual name="key-64">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_63" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_63"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_64">
+		<visual name="key-65">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_64" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_64"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_65">
+		<visual name="key-66">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_65" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_65"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_66">
+		<visual name="key-67">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_66" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_66"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_67">
+		<visual name="key-68">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_67" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_67"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_68">
+		<visual name="key-69">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_68" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_68"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_69">
+		<visual name="key-70">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_69" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_69"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_70">
+		<visual name="key-71">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_70" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_70"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_71">
+		<visual name="key-72">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_71" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_71"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_72">
+		<visual name="key-73">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_72" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_72"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_73">
+		<visual name="key-74">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_73" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_73"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_74">
+		<visual name="key-75">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_74" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_74"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_75">
+		<visual name="key-76">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_75" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_75"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_76">
+		<visual name="key-77">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_76" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_76"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_77">
+		<visual name="key-78">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_77" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_77"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_78">
+		<visual name="key-79">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_78" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_78"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_79">
+		<visual name="key-80">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_79" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_79"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_80">
+		<visual name="key-81">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_80" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_80"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_81">
+		<visual name="key-82">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_81"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_82">
+		<visual name="key-83">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_82" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_82"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_83">
+		<visual name="key-84">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_83" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_83"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_84">
+		<visual name="key-85">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_84" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_84"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_85">
+		<visual name="key-86">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_85" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_85"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_86">
+		<visual name="key-87">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_86" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_86"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_87">
+		<visual name="key-88">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_87" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_87"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_88">
+		<visual name="key-89">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_88" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_88"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_89">
+		<visual name="key-90">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-44.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_89" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_89"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_90">
+		<visual name="key-91">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_90" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_90"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_91">
+		<visual name="key-92">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_91" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_91"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_92">
+		<visual name="key-93">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_92" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_92"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_93">
+		<visual name="key-94">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_93" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_93"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_94">
+		<visual name="key-95">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_94" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_94"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_95">
+		<visual name="key-96">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_95" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_95"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_96">
+		<visual name="key-97">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_96" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_96"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_97">
+		<visual name="key-98">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_97" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_97"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_98">
+		<visual name="key-99">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_98" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_98"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_99">
+		<visual name="key-100">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_99" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_99"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_100">
+		<visual name="key-101">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_100" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_100"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_101">
+		<visual name="key-102">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_101" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_101"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_102">
+		<visual name="key-103">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_102" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_102"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_103">
+		<visual name="key-104">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_103" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_103"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_104">
+		<visual name="key-105">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_104" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_104"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+	<link name="link_105">
+		<visual name="key-106">
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.31840449839441876 -0.04096300000000053 0.0731749822113199"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_105" type="prismatic">
+		<origin xyz="0.31840449839441876 0.04096300000000053 -0.0731749822113199"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_105"/>
+		<parent link="link_0"/>
+		<limit lower="0" upper="0.01"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Keyboard/12836/mobility_v2.json b/data/PartNet-Mobility/Keyboard/12836/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..70de44f95deb1913481db714370aacc73f79459d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/mobility_v2.json
@@ -0,0 +1 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12836/point_sample/ply-10000.ply b/data/PartNet-Mobility/Keyboard/12836/point_sample/ply-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..b21cdf15eb7023cd65f9be5a3746d702a80073e8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/point_sample/ply-10000.ply
@@ -0,0 +1,10010 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12836/point_sample/pts-10000.txt b/data/PartNet-Mobility/Keyboard/12836/point_sample/pts-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ad5d7f02d89877744ebc5512046ade2f47322efb
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-label-10000.txt b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-label-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9826403e3c8b45e0fa2d7c4f7d9ae162693361d3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-label-10000.txt
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diff --git a/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-label-10000.ply b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-label-10000.ply
new file mode 100644
index 0000000000000000000000000000000000000000..43303d0b256b1ac231b02adbd663cbac344c6bf2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-label-10000.ply
@@ -0,0 +1,10010 @@
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new file mode 100644
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diff --git a/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-nor-rgba-10000.txt b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-nor-rgba-10000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1933d2c645ea8fa067236fb1a63fae638d5edb7d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/point_sample/sample-points-all-pts-nor-rgba-10000.txt
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index 0000000000000000000000000000000000000000..7df02445aa35e7ccd084e9f75ad6d366ac75d513
--- /dev/null
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diff --git a/data/PartNet-Mobility/Keyboard/12836/result_after_merging.json b/data/PartNet-Mobility/Keyboard/12836/result_after_merging.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf512bb8ebedf6510262437010d16635268f36b8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/result_after_merging.json
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\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12836/semantics.txt b/data/PartNet-Mobility/Keyboard/12836/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ba8fa18fbf6ac5e18cfd85e4771a85d5d50482ae
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/semantics.txt
@@ -0,0 +1,106 @@
+link_0 free keyboard_base
+link_1 slider key
+link_2 slider key
+link_3 slider key
+link_4 slider key
+link_5 slider key
+link_6 slider key
+link_7 slider key
+link_8 slider key
+link_9 slider key
+link_10 slider key
+link_11 slider key
+link_12 slider key
+link_13 slider key
+link_14 slider key
+link_15 slider key
+link_16 slider key
+link_17 slider key
+link_18 slider key
+link_19 slider key
+link_20 slider key
+link_21 slider key
+link_22 slider key
+link_23 slider key
+link_24 slider key
+link_25 slider key
+link_26 slider key
+link_27 slider key
+link_28 slider key
+link_29 slider key
+link_30 slider key
+link_31 slider key
+link_32 slider key
+link_33 slider key
+link_34 slider key
+link_35 slider key
+link_36 slider key
+link_37 slider key
+link_38 slider key
+link_39 slider key
+link_40 slider key
+link_41 slider key
+link_42 slider key
+link_43 slider key
+link_44 slider key
+link_45 slider key
+link_46 slider key
+link_47 slider key
+link_48 slider key
+link_49 slider key
+link_50 slider key
+link_51 slider key
+link_52 slider key
+link_53 slider key
+link_54 slider key
+link_55 slider key
+link_56 slider key
+link_57 slider key
+link_58 slider key
+link_59 slider key
+link_60 slider key
+link_61 slider key
+link_62 slider key
+link_63 slider key
+link_64 slider key
+link_65 slider key
+link_66 slider key
+link_67 slider key
+link_68 slider key
+link_69 slider key
+link_70 slider key
+link_71 slider key
+link_72 slider key
+link_73 slider key
+link_74 slider key
+link_75 slider key
+link_76 slider key
+link_77 slider key
+link_78 slider key
+link_79 slider key
+link_80 slider key
+link_81 slider key
+link_82 slider key
+link_83 slider key
+link_84 slider key
+link_85 slider key
+link_86 slider key
+link_87 slider key
+link_88 slider key
+link_89 slider key
+link_90 slider key
+link_91 slider key
+link_92 slider key
+link_93 slider key
+link_94 slider key
+link_95 slider key
+link_96 slider key
+link_97 slider key
+link_98 slider key
+link_99 slider key
+link_100 slider key
+link_101 slider key
+link_102 slider key
+link_103 slider key
+link_104 slider key
+link_105 slider key
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ee01e9e105a4f55a44192af138b9dc20d5513e5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.mtl
@@ -0,0 +1,21 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0.5294117647058824 0.5294117647058824 0.5294117647058824 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2186f17dce99bc5dd35f86f82a913b42b77e9389
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-1.obj
@@ -0,0 +1,1613 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a45b5685e9260667d1d254f7b58671ddb77981a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-10.obj
@@ -0,0 +1,95 @@
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f3cd47eaddde4d220ba77e2e808da6bc7c9ce63
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-100.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o KB_-_Key_1_13_3/KB_-_Key_1_13_1/mesh39/mesh39-geometry#mesh39-geometry
+v 0.408111 0.008655 -0.145628
+v 0.383880 0.008655 -0.044667
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+v 0.371765 0.040963 -0.032551
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+v 0.420226 0.040963 -0.165820
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+vn -0.7999999999999999 0.6 0
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751e538ac075ae6260226e489ab50cab37f25be5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-101.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o KB_-_Key_1_68/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.460611 0.008655 -0.145629
+v 0.484842 0.008655 -0.121398
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+v 0.496957 0.040962 -0.109283
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+v 0.496957 0.040962 -0.165821
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+vn 0.7999999999999999 0.6 0
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+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5de0b70587e6765ad673a6f9597dfc35e4afea8b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-102.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 102
+mtllib original-102.mtl
+o KB_-_Key_1_69/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.460611 0.008655 -0.068899
+v 0.484842 0.008655 -0.044668
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+vn 0.7999999999999999 0.6 0
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..417c69397d3ad1f4ef90c4d0af5bb7c99476a085
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-103.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o KB_-_Key_1_70/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.460612 0.008655 0.104753
+v 0.484842 0.008655 0.128983
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+v 0.496958 0.040962 0.141099
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d45931cb3ccdc2c6037bffee2b5abf707b813b8b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-104.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o KB_-_Key_1_71/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.383882 0.008655 0.104753
+v 0.408112 0.008655 0.128983
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9918be6d65ce63ee67a0de38eccdcf5ae8a98c4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-105.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 105
+mtllib original-105.mtl
+o KB_-_Key_1_72/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.307151 0.008655 0.104753
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6f274f60d808688e46fe5f55c5dd6fea412ad62
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-106.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 106
+mtllib original-106.mtl
+o KB_-_Key_1_73/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6e15d3d393e76e986de386885ccf6349137f602
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-107.obj
@@ -0,0 +1,491 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16058c77422d6083fc71ba7c6d431a0594f121cf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-11.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o KB_-_Key_1_10/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.088616 0.008655 -0.222358
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..877eaf6aafd19614c39fa4e9c59cbc3e8405a097
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-12.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o KB_-_Key_1_11/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.011886 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25ef67cb3c720e9a515f4c912dcc200360344515
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-13.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o KB_-_Key_1_12/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.064845 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8341d675d7d212ed0ab6319465412db5b382363a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-14.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o KB_-_Key_1_13/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.141575 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5532d6a749eda4f9f3dd5d3b1b5cb769205a65d4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-15.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o KB_-_Key_1_1_1_1/KB_-_Key_1_1_1/mesh5/mesh5-geometry#mesh5-geometry
+v 0.218305 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..922d1bf75264fc7ce5cdc19a2e69f387fb0b5f6f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-16.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o KB_-_Key_1_2_1_1/KB_-_Key_1_2_1/mesh8/mesh8-geometry#mesh8-geometry
+v -0.779188 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f9e38670e341ca48c927ec30a3191e6556be23f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-17.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o KB_-_Key_1_14/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.664093 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee711d20f788b71222293a03f529d31160df8e8c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-18.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
+o KB_-_Key_1_15/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.587362 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..beecb75e8072e9878844ac3763f213b23dc8f380
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-19.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
+o KB_-_Key_1_16/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.510632 0.008655 -0.145628
+v -0.486401 0.008655 -0.121397
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..018b5faf020a69e94b887e47addb9cc20f6caf23
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-2.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o KB_-_Key_1_1/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.779188 0.008655 -0.222358
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74276b5158a0f406cb74d88edaf446b3016a3058
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-20.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o KB_-_Key_1_17/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.433902 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ac692caf78c05d4b57b6afd8b488a84bcb2f75d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-21.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
+o KB_-_Key_1_18/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.357172 0.008655 -0.145628
+v -0.332941 0.008655 -0.121398
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..833045d3af946cf44e63893a80db2d85bfc8fa28
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-22.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o KB_-_Key_1_19/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.280441 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d9d7a02af026a8f08dc1e679947838c89f4458b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-23.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o KB_-_Key_1_20/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.203711 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0433ec52f9126e4a383b896f19ff19d859be7d54
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-24.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o KB_-_Key_1_21/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.126981 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0527f12ae283236135298009b35dd54e61a2d36d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-25.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o KB_-_Key_1_22/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.050251 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0640879173f9c215fc22fbf4d25bbdf7a6b409de
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-26.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o KB_-_Key_1_23/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.026480 0.008655 -0.145628
+v 0.050710 0.008655 -0.121398
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+v 0.074941 0.024809 -0.097167
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8113b06b1c36cf38119072e3d8ee21426d12c4e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-27.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o KB_-_Key_1_24/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.103210 0.008655 -0.145628
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71c6fd8f4ebfa34c7b8b605e8595c3934ec765c1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-28.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o KB_-_Key_1_25/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.179940 0.008655 -0.145628
+v 0.204171 0.008655 -0.121398
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+vn 0 -0.24253491915415132 0.9701426766156044
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5473a8b491c43568634c59f1f447bf986dc52fde
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-29.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
+o KB_-_Key_1_3_1_1/KB_-_Key_1_3_1/mesh11/mesh11-geometry#mesh11-geometry
+v -0.779188 0.008655 -0.068898
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+vn -0.7999999999999999 0.6 0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24ccb1b1052c1ede5339a42884385122b5c18e67
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-3.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o KB_-_Key_1_2/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.702458 0.008655 -0.222358
+v -0.678227 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a308c5f1ea49d46835f3e8a983eef373796832db
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-30.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o KB_-_Key_1_26/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.260249 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..681fc3c612d91846b68bc32cc4cd422b57688e80
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-31.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
+o KB_-_Key_1_27/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.336979 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78d7dabfc5891f4cfe243ea8e2bf83d3036dc2d8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-32.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o KB_-_Key_1_28/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.413710 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92487dd34d6fb7c0c407cc6a404cfcf3dcd8f417
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-33.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 33
+mtllib original-33.mtl
+o KB_-_Key_1_29/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.490440 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c99dc4fd4baf8af6ffe64e06c1c8b1bd8cb69f35
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-34.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o KB_-_Key_1_30/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.567170 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d2a421aa7f780b5ac29e2ba82b1b9686323c6d7
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-35.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o KB_-_Key_1_31/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.643900 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b4bfbacbb5d25e3cf1dfda6926a47837a1d8624
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-36.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o KB_-_Key_1_32/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.183519 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c65658eb13f1a20caced3f2dbb2f0cb10002c1e4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-37.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o KB_-_Key_1_33/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.106789 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5c638232f88bb37d4152e866d41e4d23e769ec5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-38.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 38
+mtllib original-38.mtl
+o KB_-_Key_1_34/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.030058 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b8fba6c80340a72a40bec7cee6c257dbbe317b3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-39.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
+o KB_-_Key_1_35/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.046672 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2cc301fd289b57e3a0514b770709a4928a8fba2b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-4.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o KB_-_Key_1_3/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.625727 0.008655 -0.222358
+v -0.601497 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852ef373f67ce3c5fa1badf9ea188208541f1479
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-40.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o KB_-_Key_1_36/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.123402 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ef5bd97ad3e005fa6377e0fc224802a9513b935
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-41.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o KB_-_Key_1_37/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.200132 0.008655 -0.068898
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d8c2d272a96f81d8f60fef691eab314a0421bf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-42.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
+o KB_-_Key_1_4_1_1/KB_-_Key_1_4_1/mesh14/mesh14-geometry#mesh14-geometry
+v -0.779188 0.008655 0.007833
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..118272e4538d304ca4304504a61b6ece5b4b57f6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-43.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
+o KB_-_Key_1_38/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.682265 0.008655 0.007833
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66fce78aa0f358a9f37e5fb4a8fbd09cce877a29
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-44.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o KB_-_Key_1_39/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.605535 0.008655 0.007833
+v -0.581305 0.008655 0.032063
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+v -0.629766 0.024809 0.056294
+v -0.569189 0.040963 0.044178
+v -0.617651 0.040963 -0.012360
+v -0.617651 0.040963 0.044178
+v -0.569189 0.040963 -0.012360
+vn 0 -1 0
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+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54ef40ab4aee53e800701035145f5e3ff5bddb24
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-45.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
+o KB_-_Key_1_40/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.528805 0.008655 0.007833
+v -0.504574 0.008655 0.032063
+v -0.528805 0.008655 0.032063
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+v -0.553036 0.024809 -0.016398
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+v -0.553036 0.024809 0.056294
+v -0.492459 0.040963 0.044178
+v -0.540920 0.040963 -0.012360
+v -0.540920 0.040963 0.044178
+v -0.492459 0.040963 -0.012360
+vn 0 -1 0
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+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 5//1 12//1 10//1
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+f 14//1 16//1 15//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8989637887509a4ae2eed55019fe17caaf9ae9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-46.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o KB_-_Key_1_41/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.452075 0.008655 0.007832
+v -0.427844 0.008655 0.032063
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+v -0.464190 0.040963 -0.012360
+v -0.464190 0.040963 0.044178
+v -0.415729 0.040963 -0.012360
+vn 0 -1 0
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+vn 0.7999999999999999 0.6 0
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e4e42de362a94dd15f833a3204739dc673bcd72
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-47.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o KB_-_Key_1_42/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.375344 0.008655 0.007832
+v -0.351114 0.008655 0.032063
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+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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+f 14//1 16//1 15//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d2949ac83bdf9057506568d41ccd79d15e7b2806
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-48.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o KB_-_Key_1_43/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.298614 0.008655 0.007832
+v -0.274384 0.008655 0.032063
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+v -0.322845 0.024809 0.056294
+v -0.262268 0.040963 0.044178
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+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02cb826fcf8b01e1dee7b38bc88add384603d1a9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-49.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
+o KB_-_Key_1_44/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.221884 0.008655 0.007832
+v -0.197653 0.008655 0.032063
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..820631d8cbc5a0ad8f547e54c4a964561e5d55aa
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-5.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o KB_-_Key_1_4/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.548997 0.008655 -0.222358
+v -0.524767 0.008655 -0.198128
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+v -0.561113 0.040963 -0.242550
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+v -0.512651 0.040963 -0.242550
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce438ce8397d08cd3cc09db0646cf60a11c8a607
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-50.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o KB_-_Key_1_45/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.145154 0.008655 0.007832
+v -0.120923 0.008655 0.032063
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+v -0.169384 0.024809 -0.016398
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+v -0.108808 0.040963 0.044178
+v -0.157269 0.040963 -0.012360
+v -0.157269 0.040963 0.044178
+v -0.108808 0.040963 -0.012360
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+vn 0.7999999999999999 0.6 0
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4bfa03bbee6d770683a7d37ebd1e82d469cb6dc
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-51.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o KB_-_Key_1_46/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.068423 0.008655 0.007832
+v -0.044193 0.008655 0.032063
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+v -0.092654 0.024809 0.056293
+v -0.032078 0.040963 0.044178
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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+f 14//1 16//1 15//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0afd8269a47c19ec0bb362a7dcfece04e4878ef
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-52.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
+o KB_-_Key_1_47/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.008307 0.008655 0.007832
+v 0.032537 0.008655 0.032063
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+v -0.015924 0.024809 -0.016398
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+v -0.015924 0.024809 0.056293
+v 0.044653 0.040963 0.044178
+v -0.003809 0.040963 -0.012360
+v -0.003809 0.040963 0.044178
+v 0.044653 0.040963 -0.012360
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d098a08f38a04dc5d074cde55ee16b7d193a0a4c
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-53.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o KB_-_Key_1_48/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.085037 0.008655 0.007832
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1eb6c3627c194dcc4ebb92ec43a782bb97f02416
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-54.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 54
+mtllib original-54.mtl
+o KB_-_Key_1_49/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.625727 0.008655 0.084563
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98aeeb6c9fe3be1353e0de14649eec99df42a511
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-55.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o KB_-_Key_1_5_1_1/KB_-_Key_1_5_1/mesh17/mesh17-geometry#mesh17-geometry
+v -0.779188 0.008655 0.084563
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ab4d73ba53ac416bb529c9cd542660b2e0afa04
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-56.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 56
+mtllib original-56.mtl
+o KB_-_Key_1_50/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.548997 0.008655 0.084563
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8a9e294e136df97dbb621665a98ef5ddb8e4839
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-57.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
+o KB_-_Key_1_6_1_1/KB_-_Key_1_6_1/mesh20/mesh20-geometry#mesh20-geometry
+v -0.472267 0.008655 0.084563
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3e426ce859541ec788d90fb73ee175b73e64cd1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-58.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
+o KB_-_Key_1_51/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.028039 0.008655 0.084562
+v -0.003809 0.008655 0.108793
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+v -0.040154 0.040963 0.064370
+v -0.040154 0.040963 0.120908
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..793d83535521f513a1cc916535ff272b02416106
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-59.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 59
+mtllib original-59.mtl
+o KB_-_Key_1_52/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.048691 0.008655 0.084562
+v 0.072922 0.008655 0.108793
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..137e7db06028bef8256c8293bd8fb0262103425e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-6.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o KB_-_Key_1_5/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.472267 0.008655 -0.222358
+v -0.448036 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f282f69637f4ff30fdb925f6d3456337e3a5d71b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-60.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o KB_-_Key_1_7_1_1/KB_-_Key_1_7_1/mesh23/mesh23-geometry#mesh23-geometry
+v 0.125421 0.008655 0.084562
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad3935d701f22bcee6692171160f34bc4f6da115
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-61.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
+o KB_-_Key_1_8_1_1/KB_-_Key_1_8_1/mesh26/mesh26-geometry#mesh26-geometry
+v 0.161767 0.008655 0.007832
+v 0.319266 0.008655 0.032063
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+v 0.149652 0.040963 0.044178
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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+f 16//1 14//1 15//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7862aa6710a92973c530a70572c364f6b17c50b9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-62.obj
@@ -0,0 +1,121 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
+o Enter1/Enter/mesh29/mesh29-geometry#mesh29-geometry
+v 0.256670 0.024809 -0.121398
+v 0.256670 0.008655 -0.145628
+v 0.256670 0.008655 -0.121398
+v 0.256670 0.024809 -0.145628
+v 0.319266 0.008655 -0.121398
+v 0.319266 0.024809 -0.121398
+v 0.252632 0.024809 -0.097167
+v 0.319266 0.008655 -0.145628
+v 0.319266 0.024809 -0.145628
+v 0.343497 0.024809 -0.020436
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+v 0.343497 0.024809 -0.169859
+v 0.232440 0.024809 -0.097167
+v 0.252632 0.024809 -0.020436
+v 0.244555 0.040962 -0.121398
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+v 0.331381 0.040963 -0.032552
+v 0.264747 0.040963 -0.121398
+v 0.331381 0.040963 -0.165821
+vn -1 0 -9.999999999995e-7
+vn 1 0 9.999999999995e-7
+vn 0 -1 0
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+vn 0 -1 9.999999997774554e-7
+vn 0 1 -9.999999997774554e-7
+vn -0.000004000000305564035 0.8320510635612152 0.5546990423740163
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+vn 0.800000839998648 -0.599998879999336 9.999997998653335e-7
+vn 0.7999999999996 0.5999999999997 -9.999999998662734e-7
+vn -0.7999999999996 -0.5999999999997 9.999999998662734e-7
+usemtl material_0_0
+f 1//1 2//1 3//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9fa39de1f818789b584fab0882b12e3c70cae8d1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-63.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o KB_-_Key_1_10_1_1/KB_-_Key_1_10_1/mesh32/mesh32-geometry#mesh32-geometry
+v -0.791303 0.040963 -0.278896
+v -0.722650 0.040963 -0.307165
+v -0.791303 0.040963 -0.307165
+v -0.722650 0.040963 -0.278896
+v -0.710535 0.024809 -0.311204
+v -0.803419 0.024809 -0.311204
+v -0.710535 0.024809 -0.266781
+v -0.803419 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
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+f 6//5 1//5 3//5
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+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c16af4c7a049cd3c14ec00215d1c14d144eca5b2
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-64.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o KB_-_Key_1_11_1_1/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.653997 0.040963 -0.278896
+v -0.605535 0.040963 -0.307165
+v -0.653997 0.040963 -0.307165
+v -0.605535 0.040963 -0.278896
+v -0.593420 0.024809 -0.311204
+v -0.666112 0.024809 -0.311204
+v -0.593420 0.024809 -0.266781
+v -0.666112 0.024809 -0.266781
+vn 0 1 0
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc9385acad158c772fdf429245eb9d8964c1dd81
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-65.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o KB_-_Key_1_11_2/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.577266 0.040963 -0.278896
+v -0.528805 0.040963 -0.307165
+v -0.577266 0.040963 -0.307165
+v -0.528805 0.040963 -0.278896
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+v -0.589382 0.024809 -0.311204
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+v -0.589382 0.024809 -0.266781
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..da7e5ab43d48a65d1639fac14fe5e5e914c0206b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-66.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o KB_-_Key_1_11_3/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.500536 0.040963 -0.278896
+v -0.452075 0.040963 -0.307165
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+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
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+usemtl material_0_0
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+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9fd1d53d8c482ce25d207a3d50f3165b64b5bc1
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-67.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o KB_-_Key_1_11_4/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.423806 0.040963 -0.278896
+v -0.375345 0.040963 -0.307165
+v -0.423806 0.040963 -0.307165
+v -0.375345 0.040963 -0.278896
+v -0.363229 0.024809 -0.311204
+v -0.435921 0.024809 -0.311204
+v -0.363229 0.024809 -0.266781
+v -0.435921 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7f6cdeb6110ba3440d425d7d8b2a06437e6178f
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-68.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o KB_-_Key_1_11_5/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.225923 0.040963 -0.278896
+v -0.177461 0.040963 -0.307165
+v -0.225923 0.040963 -0.307165
+v -0.177461 0.040963 -0.278896
+v -0.165346 0.024809 -0.311203
+v -0.238038 0.024809 -0.311203
+v -0.165346 0.024809 -0.266781
+v -0.238038 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..445e9179a4ec8627a3342bd3ae2056d2b14cd396
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-69.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
+o KB_-_Key_1_11_6/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.149192 0.040963 -0.278896
+v -0.100731 0.040963 -0.307165
+v -0.149192 0.040963 -0.307165
+v -0.100731 0.040963 -0.278896
+v -0.088616 0.024809 -0.311203
+v -0.161308 0.024809 -0.311203
+v -0.088616 0.024809 -0.266781
+v -0.161308 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0833e6ea2db5bb3dcbc4881a1b621dabe2e078
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-7.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o KB_-_Key_1_6/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.395537 0.008655 -0.222358
+v -0.371306 0.008655 -0.198128
+v -0.395537 0.008655 -0.198128
+v -0.371306 0.008655 -0.222358
+v -0.395537 0.024809 -0.198128
+v -0.395537 0.024809 -0.222358
+v -0.371306 0.024809 -0.198128
+v -0.371306 0.024809 -0.222358
+v -0.347076 0.024809 -0.173897
+v -0.419767 0.024809 -0.246589
+v -0.347076 0.024809 -0.246589
+v -0.419767 0.024809 -0.173897
+v -0.359191 0.040963 -0.186012
+v -0.407652 0.040963 -0.242550
+v -0.407652 0.040963 -0.186012
+v -0.359191 0.040963 -0.242550
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 1
+vn 0 0 -1
+vn -1 0 0
+vn 1 0 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 3//5 6//5 1//5
+f 1//6 6//6 3//6
+f 6//4 4//4 1//4
+f 1//3 4//3 6//3
+f 4//6 7//6 2//6
+f 2//5 7//5 4//5
+f 5//3 2//3 7//3
+f 7//4 2//4 5//4
+f 6//5 3//5 5//5
+f 5//6 3//6 6//6
+f 4//4 6//4 8//4
+f 8//3 6//3 4//3
+f 7//6 4//6 8//6
+f 8//5 4//5 7//5
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 9//1 5//1 7//1
+f 7//2 5//2 9//2
+f 10//1 6//1 5//1
+f 5//2 6//2 10//2
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
+f 6//1 11//1 8//1
+f 8//2 11//2 6//2
+f 8//1 11//1 7//1
+f 7//2 11//2 8//2
+f 12//1 5//1 9//1
+f 9//2 5//2 12//2
+f 9//1 7//1 11//1
+f 11//2 7//2 9//2
+f 6//1 10//1 11//1
+f 11//2 10//2 6//2
+f 5//1 12//1 10//1
+f 10//2 12//2 5//2
+f 13//7 12//7 9//7
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+f 11//9 13//9 9//9
+f 9//10 13//10 11//10
+f 14//11 11//11 10//11
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+f 15//13 10//13 12//13
+f 12//14 10//14 15//14
+f 12//7 13//7 15//7
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+f 16//10 11//10 13//10
+f 11//11 14//11 16//11
+f 16//12 14//12 11//12
+f 10//13 15//13 14//13
+f 14//14 15//14 10//14
+f 16//2 15//2 13//2
+f 13//1 15//1 16//1
+f 15//2 16//2 14//2
+f 14//1 16//1 15//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0cf14e30f4ded22faa0b2b1d7016eba1165d0ca
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-70.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o KB_-_Key_1_11_7/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.072462 0.040963 -0.278896
+v -0.024001 0.040963 -0.307165
+v -0.072462 0.040963 -0.307165
+v -0.024001 0.040963 -0.278896
+v -0.011886 0.024809 -0.311203
+v -0.084577 0.024809 -0.311203
+v -0.011886 0.024809 -0.266781
+v -0.084577 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.obj
new file mode 100644
index 0000000000000000000000000000000000000000..968628776255f239a83459f3c1cc56e520867ccf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-71.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 71
+mtllib original-71.mtl
+o KB_-_Key_1_11_8/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v -0.302653 0.040963 -0.278896
+v -0.254192 0.040963 -0.307165
+v -0.302653 0.040963 -0.307165
+v -0.254192 0.040963 -0.278896
+v -0.242076 0.024809 -0.311203
+v -0.314768 0.024809 -0.311203
+v -0.242076 0.024809 -0.266781
+v -0.314768 0.024809 -0.266781
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
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+f 8//8 1//8 7//8
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+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3c785f8c0cf6c3e46c44301c849614b586bce25
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-72.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 72
+mtllib original-72.mtl
+o KB_-_Key_1_11_9/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.048691 0.040963 -0.278896
+v 0.097152 0.040963 -0.307165
+v 0.048691 0.040963 -0.307165
+v 0.097152 0.040963 -0.278896
+v 0.109267 0.024809 -0.311203
+v 0.036576 0.024809 -0.311203
+v 0.109267 0.024809 -0.266780
+v 0.036576 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06ad8bc3dde89da26f65dcac04245220ef5b81d8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-73.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o KB_-_Key_1_11_10/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.278882 0.040963 -0.278896
+v 0.327343 0.040963 -0.307165
+v 0.278882 0.040963 -0.307165
+v 0.327343 0.040963 -0.278896
+v 0.339458 0.024809 -0.311203
+v 0.266766 0.024809 -0.311203
+v 0.339458 0.024809 -0.266780
+v 0.266766 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4e6deb5c693924c85eae15b9ff864cd7bdee929
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-74.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o KB_-_Key_1_11_11/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.202151 0.040963 -0.278896
+v 0.250613 0.040963 -0.307165
+v 0.202151 0.040963 -0.307165
+v 0.250613 0.040963 -0.278896
+v 0.262728 0.024809 -0.311203
+v 0.190036 0.024809 -0.311203
+v 0.262728 0.024809 -0.266780
+v 0.190036 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..478e8f6a7c7fd432183ff0c57a80fc4e3858df23
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-75.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 75
+mtllib original-75.mtl
+o KB_-_Key_1_11_12/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.125421 0.040963 -0.278896
+v 0.173882 0.040963 -0.307165
+v 0.125421 0.040963 -0.307165
+v 0.173882 0.040963 -0.278896
+v 0.185998 0.024809 -0.311203
+v 0.113306 0.024809 -0.311203
+v 0.185998 0.024809 -0.266780
+v 0.113306 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ad83678465dc5ca2dea0db9066864b106001e39d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-76.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 76
+mtllib original-76.mtl
+o KB_-_Key_1_10_2/KB_-_Key_1_10_1/mesh32/mesh32-geometry#mesh32-geometry
+v 0.400035 0.040963 -0.278897
+v 0.468688 0.040963 -0.307166
+v 0.400035 0.040963 -0.307166
+v 0.468688 0.040963 -0.278897
+v 0.480803 0.024809 -0.311204
+v 0.387919 0.024809 -0.311204
+v 0.480803 0.024809 -0.266782
+v 0.387919 0.024809 -0.266782
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7cab011ea6397bedfe87a46aa755faee6931993e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-77.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
+o KB_-_Key_1_11_13/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.694840 0.040963 -0.278895
+v 0.743301 0.040963 -0.307164
+v 0.694840 0.040963 -0.307164
+v 0.743301 0.040963 -0.278895
+v 0.755416 0.024809 -0.311202
+v 0.682724 0.024809 -0.311202
+v 0.755416 0.024809 -0.266780
+v 0.682724 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa9e6cea32d906b1a926a282d82f84c8bbc3ddac
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-78.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 78
+mtllib original-78.mtl
+o KB_-_Key_1_11_14/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.618109 0.040963 -0.278895
+v 0.666571 0.040963 -0.307164
+v 0.618109 0.040963 -0.307164
+v 0.666571 0.040963 -0.278895
+v 0.678686 0.024809 -0.311203
+v 0.605994 0.024809 -0.311203
+v 0.678686 0.024809 -0.266780
+v 0.605994 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..516aea3f66875d5bfdb816f7df0c2c3c81a7ac8d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-79.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 79
+mtllib original-79.mtl
+o KB_-_Key_1_11_15/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.541379 0.040963 -0.278895
+v 0.589840 0.040963 -0.307164
+v 0.541379 0.040963 -0.307164
+v 0.589840 0.040963 -0.278895
+v 0.601956 0.024809 -0.311203
+v 0.529264 0.024809 -0.311203
+v 0.601956 0.024809 -0.266780
+v 0.529264 0.024809 -0.266780
+vn 0 1 0
+vn 0 -1 0
+vn 0 0.24253491915415132 -0.9701426766156044
+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
+vn 0.7999999999999999 -0.6 0
+vn 0 0.5999999999999998 0.8000000000000002
+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
+vn -0.7999999999999999 -0.6 0
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 3//3 2//3
+f 2//4 3//4 5//4
+f 6//5 1//5 3//5
+f 3//6 1//6 6//6
+f 1//7 7//7 4//7
+f 4//8 7//8 1//8
+f 4//9 5//9 2//9
+f 2//10 5//10 4//10
+f 3//3 5//3 6//3
+f 6//4 5//4 3//4
+f 1//5 6//5 8//5
+f 8//6 6//6 1//6
+f 7//7 1//7 8//7
+f 8//8 1//8 7//8
+f 5//9 4//9 7//9
+f 7//10 4//10 5//10
+f 7//2 6//2 5//2
+f 5//1 6//1 7//1
+f 6//2 7//2 8//2
+f 8//1 7//1 6//1
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e152026f3b66fa47a41ab61540369d5cab560fbf
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-8.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
+o KB_-_Key_1_7/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.318806 0.008655 -0.222358
+v -0.294576 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d14d47184d34adb259ab50884e0337222e568ab9
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-80.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
+o KB_-_Key_1_11_16/KB_-_Key_1_11_1/mesh34/mesh34-geometry#mesh34-geometry
+v 0.771570 0.040963 -0.278895
+v 0.820031 0.040963 -0.307164
+v 0.771570 0.040963 -0.307164
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+vn 0 -0.5999999999999998 -0.8000000000000002
+vn 0.7999999999999999 0.6 0
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81f698c7d79217d110688eda2312ed0fe1a009e6
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-81.obj
@@ -0,0 +1,117 @@
+# SSTK version 0.8.0
+# 81
+mtllib original-81.mtl
+o KB_-_Key_1_14_1_1/KB_-_Key_1_14_1/mesh36/mesh36-geometry#mesh36-geometry
+v 0.553495 0.008655 -0.222359
+v 0.577725 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fcd142d23da7934cdab19bb0d76a0c1096852a8
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-82.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 82
+mtllib original-82.mtl
+o KB_-_Key_1_53/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.630225 0.008655 -0.222359
+v 0.654455 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08e1f0a05f2553c7a8f92585f4f2193c0ba3cf9d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-83.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 83
+mtllib original-83.mtl
+o KB_-_Key_1_54/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.706955 0.008655 -0.222359
+v 0.731186 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf68f1a76d3a54fd8cbb75cc4ede130521067b40
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-84.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o KB_-_Key_1_55/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.783685 0.008655 -0.222359
+v 0.807916 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3270eb04e768910df1dd64ac4260d68d9cc3bca5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-85.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o KB_-_Key_1_56/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.553495 0.008655 -0.145629
+v 0.577725 0.008655 -0.121398
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..988355b5942d18729c919bd7c7ef46aeba661094
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-86.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o KB_-_Key_1_57/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.630225 0.008655 -0.145629
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca3c70a4c7c8dc5145cd0451dd39a8a3e38eb29e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-87.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o KB_-_Key_1_58/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.706955 0.008655 -0.145629
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.obj
new file mode 100644
index 0000000000000000000000000000000000000000..432d93e3d4946407faa50a39a0cd9b31a6b5743d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-88.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 88
+mtllib original-88.mtl
+o KB_-_Key_1_13_1_1/KB_-_Key_1_13_1/mesh39/mesh39-geometry#mesh39-geometry
+v 0.807916 0.008655 -0.145629
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2921f940880d78c17f33f91bc4d20ade720d039e
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-89.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 89
+mtllib original-89.mtl
+o KB_-_Key_1_59/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.706955 0.008655 -0.068898
+v 0.731186 0.008655 -0.044668
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..955db9e90a80e84cfa0d68fde8425007e576d4bd
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-9.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o KB_-_Key_1_8/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v -0.242076 0.008655 -0.222358
+v -0.217846 0.008655 -0.198128
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71a9683dca78a552aa2347506bcba74c1b24b361
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-90.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
+o KB_-_Key_1_60/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.553495 0.008655 -0.068898
+v 0.577725 0.008655 -0.044668
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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+usemtl material_0_0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7513d7699868d880ed4cc90636ec4de820490ba5
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-91.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 91
+mtllib original-91.mtl
+o KB_-_Key_1_61/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.630225 0.008655 -0.068898
+v 0.654456 0.008655 -0.044668
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2418a7f62f910cb00da94fed17a89f7af8dd3a3
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-92.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 92
+mtllib original-92.mtl
+o KB_-_Key_1_62/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.553495 0.008655 0.007832
+v 0.577725 0.008655 0.032062
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f2b5b2830c883caaaecc499e828f988795605ee
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-93.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 93
+mtllib original-93.mtl
+o KB_-_Key_1_63/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.630225 0.008655 0.007832
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..971d4b0341925db0a03dd8b71f940efb3900f8f4
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-94.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 94
+mtllib original-94.mtl
+o KB_-_Key_1_64/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.706955 0.008655 0.007832
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f73ee0794c438b5c60779905265fd19ae56462d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-95.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 95
+mtllib original-95.mtl
+o KB_-_Key_1_65/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.706955 0.008655 0.084562
+v 0.731186 0.008655 0.108793
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+vn 0 -0.24253491915415132 0.9701426766156044
+vn -0.7999999999999999 0.6 0
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d016b9d167d4aaa4576327cea396b16cb8f6f9da
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-96.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 96
+mtllib original-96.mtl
+o KB_-_Key_1_12_1_1/KB_-_Key_1_12_1/mesh42/mesh42-geometry#mesh42-geometry
+v 0.553495 0.008655 0.084562
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+v 0.666571 0.040962 0.120908
+v 0.541379 0.040962 0.064370
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7842ea82d68e4a2a27847379c3704d0e70d0ec1d
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-97.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 97
+mtllib original-97.mtl
+o KB_-_Key_1_13_2/KB_-_Key_1_13_1/mesh39/mesh39-geometry#mesh39-geometry
+v 0.807916 0.008655 0.007832
+v 0.783686 0.008655 0.108793
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+v 0.832147 0.024809 -0.016399
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a82a382c8f63a981b49a67d9ba63ab58fd20de04
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-98.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 98
+mtllib original-98.mtl
+o KB_-_Key_1_66/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.460611 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.mtl b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9154d8a5871f51d625a406233a9bd443ba7bf1ea
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.2196078431372549 0.2196078431372549 0.2196078431372549 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.obj b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fb072812abb58477c4720ceb0b47e045003a896b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/textured_objs/original-99.obj
@@ -0,0 +1,95 @@
+# SSTK version 0.8.0
+# 99
+mtllib original-99.mtl
+o KB_-_Key_1_67/KB_-_Key_1/mesh2/mesh2-geometry#mesh2-geometry
+v 0.383881 0.008655 -0.222359
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diff --git a/data/PartNet-Mobility/Keyboard/12836/tree_hier.html b/data/PartNet-Mobility/Keyboard/12836/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..0c9670c216afc06b8c13da1eeca910e35ef0309a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard Keyboard</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame Frame</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key Key</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key Key</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key Key</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key Key</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key Key</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key Key</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key Key</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key Key</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key Key</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key Key</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key Key</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key Key</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key Key</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key Key</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key Key</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key Key</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key Key</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key Key</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key Key</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key Key</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key Key</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key Key</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key Key</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key Key</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key Key</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key Key</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key Key</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key Key</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key Key</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key Key</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key Key</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key Key</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key Key</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key Key</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key Key</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key Key</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key Key</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key Key</p><a href="parts_render/39.png"><img src="parts_render/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key Key</p><a href="parts_render/40.png"><img src="parts_render/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key Key</p><a href="parts_render/41.png"><img src="parts_render/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key Key</p><a href="parts_render/42.png"><img src="parts_render/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key Key</p><a href="parts_render/43.png"><img src="parts_render/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key Key</p><a href="parts_render/44.png"><img src="parts_render/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key Key</p><a href="parts_render/45.png"><img src="parts_render/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key Key</p><a href="parts_render/46.png"><img src="parts_render/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key Key</p><a href="parts_render/47.png"><img src="parts_render/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key Key</p><a href="parts_render/48.png"><img src="parts_render/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key Key</p><a href="parts_render/49.png"><img src="parts_render/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key Key</p><a href="parts_render/50.png"><img src="parts_render/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key Key</p><a href="parts_render/51.png"><img src="parts_render/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key Key</p><a href="parts_render/52.png"><img src="parts_render/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key Key</p><a href="parts_render/53.png"><img src="parts_render/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key Key</p><a href="parts_render/54.png"><img src="parts_render/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key Key</p><a href="parts_render/55.png"><img src="parts_render/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key Key</p><a href="parts_render/56.png"><img src="parts_render/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key Key</p><a href="parts_render/57.png"><img src="parts_render/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key Key</p><a href="parts_render/58.png"><img src="parts_render/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key Key</p><a href="parts_render/59.png"><img src="parts_render/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key Key</p><a href="parts_render/60.png"><img src="parts_render/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key Key</p><a href="parts_render/61.png"><img src="parts_render/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key Key</p><a href="parts_render/62.png"><img src="parts_render/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key Key</p><a href="parts_render/63.png"><img src="parts_render/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key Key</p><a href="parts_render/64.png"><img src="parts_render/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key Key</p><a href="parts_render/65.png"><img src="parts_render/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key Key</p><a href="parts_render/66.png"><img src="parts_render/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key Key</p><a href="parts_render/67.png"><img src="parts_render/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key Key</p><a href="parts_render/68.png"><img src="parts_render/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key Key</p><a href="parts_render/69.png"><img src="parts_render/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key Key</p><a href="parts_render/70.png"><img src="parts_render/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key Key</p><a href="parts_render/71.png"><img src="parts_render/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key Key</p><a href="parts_render/72.png"><img src="parts_render/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key Key</p><a href="parts_render/73.png"><img src="parts_render/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key Key</p><a href="parts_render/74.png"><img src="parts_render/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key Key</p><a href="parts_render/75.png"><img src="parts_render/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key Key</p><a href="parts_render/76.png"><img src="parts_render/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key Key</p><a href="parts_render/77.png"><img src="parts_render/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key Key</p><a href="parts_render/78.png"><img src="parts_render/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key Key</p><a href="parts_render/79.png"><img src="parts_render/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key Key</p><a href="parts_render/80.png"><img src="parts_render/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key Key</p><a href="parts_render/81.png"><img src="parts_render/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key Key</p><a href="parts_render/82.png"><img src="parts_render/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key Key</p><a href="parts_render/83.png"><img src="parts_render/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key Key</p><a href="parts_render/84.png"><img src="parts_render/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key Key</p><a href="parts_render/85.png"><img src="parts_render/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key Key</p><a href="parts_render/86.png"><img src="parts_render/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key Key</p><a href="parts_render/87.png"><img src="parts_render/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key Key</p><a href="parts_render/88.png"><img src="parts_render/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key Key</p><a href="parts_render/89.png"><img src="parts_render/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key Key</p><a href="parts_render/90.png"><img src="parts_render/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key Key</p><a href="parts_render/91.png"><img src="parts_render/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key Key</p><a href="parts_render/92.png"><img src="parts_render/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key Key</p><a href="parts_render/93.png"><img src="parts_render/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key Key</p><a href="parts_render/94.png"><img src="parts_render/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key Key</p><a href="parts_render/95.png"><img src="parts_render/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key Key</p><a href="parts_render/96.png"><img src="parts_render/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key Key</p><a href="parts_render/97.png"><img src="parts_render/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key Key</p><a href="parts_render/98.png"><img src="parts_render/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key Key</p><a href="parts_render/99.png"><img src="parts_render/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key Key</p><a href="parts_render/100.png"><img src="parts_render/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key Key</p><a href="parts_render/101.png"><img src="parts_render/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key Key</p><a href="parts_render/102.png"><img src="parts_render/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key Key</p><a href="parts_render/103.png"><img src="parts_render/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key Key</p><a href="parts_render/104.png"><img src="parts_render/104.png" width="100px" height="100px"/></a></td><td></td><td><p>105 key Key</p><a href="parts_render/105.png"><img src="parts_render/105.png" width="100px" height="100px"/></a></td><td></td><td><p>106 key Key</p><a href="parts_render/106.png"><img src="parts_render/106.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12836/tree_hier_after_merging.html b/data/PartNet-Mobility/Keyboard/12836/tree_hier_after_merging.html
new file mode 100644
index 0000000000000000000000000000000000000000..49fc5c71df18097395d1c734aa9d6238c3791e7b
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12836/tree_hier_after_merging.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 keyboard keyboard</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 frame frame</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td><td></td><td><p>2 key key</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td><p>3 key key</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 key key</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 key key</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 key key</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 key key</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 key key</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 key key</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 key key</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 key key</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 key key</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 key key</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 key key</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 key key</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 key key</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 key key</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 key key</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 key key</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 key key</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 key key</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 key key</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 key key</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 key key</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td><p>25 key key</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 key key</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 key key</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 key key</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 key key</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 key key</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 key key</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 key key</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 key key</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 key key</p><a href="parts_render_after_merging/34.png"><img src="parts_render_after_merging/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 key key</p><a href="parts_render_after_merging/35.png"><img src="parts_render_after_merging/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 key key</p><a href="parts_render_after_merging/36.png"><img src="parts_render_after_merging/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 key key</p><a href="parts_render_after_merging/37.png"><img src="parts_render_after_merging/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 key key</p><a href="parts_render_after_merging/38.png"><img src="parts_render_after_merging/38.png" width="100px" height="100px"/></a></td><td></td><td><p>39 key key</p><a href="parts_render_after_merging/39.png"><img src="parts_render_after_merging/39.png" width="100px" height="100px"/></a></td><td></td><td><p>40 key key</p><a href="parts_render_after_merging/40.png"><img src="parts_render_after_merging/40.png" width="100px" height="100px"/></a></td><td></td><td><p>41 key key</p><a href="parts_render_after_merging/41.png"><img src="parts_render_after_merging/41.png" width="100px" height="100px"/></a></td><td></td><td><p>42 key key</p><a href="parts_render_after_merging/42.png"><img src="parts_render_after_merging/42.png" width="100px" height="100px"/></a></td><td></td><td><p>43 key key</p><a href="parts_render_after_merging/43.png"><img src="parts_render_after_merging/43.png" width="100px" height="100px"/></a></td><td></td><td><p>44 key key</p><a href="parts_render_after_merging/44.png"><img src="parts_render_after_merging/44.png" width="100px" height="100px"/></a></td><td></td><td><p>45 key key</p><a href="parts_render_after_merging/45.png"><img src="parts_render_after_merging/45.png" width="100px" height="100px"/></a></td><td></td><td><p>46 key key</p><a href="parts_render_after_merging/46.png"><img src="parts_render_after_merging/46.png" width="100px" height="100px"/></a></td><td></td><td><p>47 key key</p><a href="parts_render_after_merging/47.png"><img src="parts_render_after_merging/47.png" width="100px" height="100px"/></a></td><td></td><td><p>48 key key</p><a href="parts_render_after_merging/48.png"><img src="parts_render_after_merging/48.png" width="100px" height="100px"/></a></td><td></td><td><p>49 key key</p><a href="parts_render_after_merging/49.png"><img src="parts_render_after_merging/49.png" width="100px" height="100px"/></a></td><td></td><td><p>50 key key</p><a href="parts_render_after_merging/50.png"><img src="parts_render_after_merging/50.png" width="100px" height="100px"/></a></td><td></td><td><p>51 key key</p><a href="parts_render_after_merging/51.png"><img src="parts_render_after_merging/51.png" width="100px" height="100px"/></a></td><td></td><td><p>52 key key</p><a href="parts_render_after_merging/52.png"><img src="parts_render_after_merging/52.png" width="100px" height="100px"/></a></td><td></td><td><p>53 key key</p><a href="parts_render_after_merging/53.png"><img src="parts_render_after_merging/53.png" width="100px" height="100px"/></a></td><td></td><td><p>54 key key</p><a href="parts_render_after_merging/54.png"><img src="parts_render_after_merging/54.png" width="100px" height="100px"/></a></td><td></td><td><p>55 key key</p><a href="parts_render_after_merging/55.png"><img src="parts_render_after_merging/55.png" width="100px" height="100px"/></a></td><td></td><td><p>56 key key</p><a href="parts_render_after_merging/56.png"><img src="parts_render_after_merging/56.png" width="100px" height="100px"/></a></td><td></td><td><p>57 key key</p><a href="parts_render_after_merging/57.png"><img src="parts_render_after_merging/57.png" width="100px" height="100px"/></a></td><td></td><td><p>58 key key</p><a href="parts_render_after_merging/58.png"><img src="parts_render_after_merging/58.png" width="100px" height="100px"/></a></td><td></td><td><p>59 key key</p><a href="parts_render_after_merging/59.png"><img src="parts_render_after_merging/59.png" width="100px" height="100px"/></a></td><td></td><td><p>60 key key</p><a href="parts_render_after_merging/60.png"><img src="parts_render_after_merging/60.png" width="100px" height="100px"/></a></td><td></td><td><p>61 key key</p><a href="parts_render_after_merging/61.png"><img src="parts_render_after_merging/61.png" width="100px" height="100px"/></a></td><td></td><td><p>62 key key</p><a href="parts_render_after_merging/62.png"><img src="parts_render_after_merging/62.png" width="100px" height="100px"/></a></td><td></td><td><p>63 key key</p><a href="parts_render_after_merging/63.png"><img src="parts_render_after_merging/63.png" width="100px" height="100px"/></a></td><td></td><td><p>64 key key</p><a href="parts_render_after_merging/64.png"><img src="parts_render_after_merging/64.png" width="100px" height="100px"/></a></td><td></td><td><p>65 key key</p><a href="parts_render_after_merging/65.png"><img src="parts_render_after_merging/65.png" width="100px" height="100px"/></a></td><td></td><td><p>66 key key</p><a href="parts_render_after_merging/66.png"><img src="parts_render_after_merging/66.png" width="100px" height="100px"/></a></td><td></td><td><p>67 key key</p><a href="parts_render_after_merging/67.png"><img src="parts_render_after_merging/67.png" width="100px" height="100px"/></a></td><td></td><td><p>68 key key</p><a href="parts_render_after_merging/68.png"><img src="parts_render_after_merging/68.png" width="100px" height="100px"/></a></td><td></td><td><p>69 key key</p><a href="parts_render_after_merging/69.png"><img src="parts_render_after_merging/69.png" width="100px" height="100px"/></a></td><td></td><td><p>70 key key</p><a href="parts_render_after_merging/70.png"><img src="parts_render_after_merging/70.png" width="100px" height="100px"/></a></td><td></td><td><p>71 key key</p><a href="parts_render_after_merging/71.png"><img src="parts_render_after_merging/71.png" width="100px" height="100px"/></a></td><td></td><td><p>72 key key</p><a href="parts_render_after_merging/72.png"><img src="parts_render_after_merging/72.png" width="100px" height="100px"/></a></td><td></td><td><p>73 key key</p><a href="parts_render_after_merging/73.png"><img src="parts_render_after_merging/73.png" width="100px" height="100px"/></a></td><td></td><td><p>74 key key</p><a href="parts_render_after_merging/74.png"><img src="parts_render_after_merging/74.png" width="100px" height="100px"/></a></td><td></td><td><p>75 key key</p><a href="parts_render_after_merging/75.png"><img src="parts_render_after_merging/75.png" width="100px" height="100px"/></a></td><td></td><td><p>76 key key</p><a href="parts_render_after_merging/76.png"><img src="parts_render_after_merging/76.png" width="100px" height="100px"/></a></td><td></td><td><p>77 key key</p><a href="parts_render_after_merging/77.png"><img src="parts_render_after_merging/77.png" width="100px" height="100px"/></a></td><td></td><td><p>78 key key</p><a href="parts_render_after_merging/78.png"><img src="parts_render_after_merging/78.png" width="100px" height="100px"/></a></td><td></td><td><p>79 key key</p><a href="parts_render_after_merging/79.png"><img src="parts_render_after_merging/79.png" width="100px" height="100px"/></a></td><td></td><td><p>80 key key</p><a href="parts_render_after_merging/80.png"><img src="parts_render_after_merging/80.png" width="100px" height="100px"/></a></td><td></td><td><p>81 key key</p><a href="parts_render_after_merging/81.png"><img src="parts_render_after_merging/81.png" width="100px" height="100px"/></a></td><td></td><td><p>82 key key</p><a href="parts_render_after_merging/82.png"><img src="parts_render_after_merging/82.png" width="100px" height="100px"/></a></td><td></td><td><p>83 key key</p><a href="parts_render_after_merging/83.png"><img src="parts_render_after_merging/83.png" width="100px" height="100px"/></a></td><td></td><td><p>84 key key</p><a href="parts_render_after_merging/84.png"><img src="parts_render_after_merging/84.png" width="100px" height="100px"/></a></td><td></td><td><p>85 key key</p><a href="parts_render_after_merging/85.png"><img src="parts_render_after_merging/85.png" width="100px" height="100px"/></a></td><td></td><td><p>86 key key</p><a href="parts_render_after_merging/86.png"><img src="parts_render_after_merging/86.png" width="100px" height="100px"/></a></td><td></td><td><p>87 key key</p><a href="parts_render_after_merging/87.png"><img src="parts_render_after_merging/87.png" width="100px" height="100px"/></a></td><td></td><td><p>88 key key</p><a href="parts_render_after_merging/88.png"><img src="parts_render_after_merging/88.png" width="100px" height="100px"/></a></td><td></td><td><p>89 key key</p><a href="parts_render_after_merging/89.png"><img src="parts_render_after_merging/89.png" width="100px" height="100px"/></a></td><td></td><td><p>90 key key</p><a href="parts_render_after_merging/90.png"><img src="parts_render_after_merging/90.png" width="100px" height="100px"/></a></td><td></td><td><p>91 key key</p><a href="parts_render_after_merging/91.png"><img src="parts_render_after_merging/91.png" width="100px" height="100px"/></a></td><td></td><td><p>92 key key</p><a href="parts_render_after_merging/92.png"><img src="parts_render_after_merging/92.png" width="100px" height="100px"/></a></td><td></td><td><p>93 key key</p><a href="parts_render_after_merging/93.png"><img src="parts_render_after_merging/93.png" width="100px" height="100px"/></a></td><td></td><td><p>94 key key</p><a href="parts_render_after_merging/94.png"><img src="parts_render_after_merging/94.png" width="100px" height="100px"/></a></td><td></td><td><p>95 key key</p><a href="parts_render_after_merging/95.png"><img src="parts_render_after_merging/95.png" width="100px" height="100px"/></a></td><td></td><td><p>96 key key</p><a href="parts_render_after_merging/96.png"><img src="parts_render_after_merging/96.png" width="100px" height="100px"/></a></td><td></td><td><p>97 key key</p><a href="parts_render_after_merging/97.png"><img src="parts_render_after_merging/97.png" width="100px" height="100px"/></a></td><td></td><td><p>98 key key</p><a href="parts_render_after_merging/98.png"><img src="parts_render_after_merging/98.png" width="100px" height="100px"/></a></td><td></td><td><p>99 key key</p><a href="parts_render_after_merging/99.png"><img src="parts_render_after_merging/99.png" width="100px" height="100px"/></a></td><td></td><td><p>100 key key</p><a href="parts_render_after_merging/100.png"><img src="parts_render_after_merging/100.png" width="100px" height="100px"/></a></td><td></td><td><p>101 key key</p><a href="parts_render_after_merging/101.png"><img src="parts_render_after_merging/101.png" width="100px" height="100px"/></a></td><td></td><td><p>102 key key</p><a href="parts_render_after_merging/102.png"><img src="parts_render_after_merging/102.png" width="100px" height="100px"/></a></td><td></td><td><p>103 key key</p><a href="parts_render_after_merging/103.png"><img src="parts_render_after_merging/103.png" width="100px" height="100px"/></a></td><td></td><td><p>104 key key</p><a href="parts_render_after_merging/104.png"><img src="parts_render_after_merging/104.png" width="100px" height="100px"/></a></td><td></td><td><p>105 key key</p><a href="parts_render_after_merging/105.png"><img src="parts_render_after_merging/105.png" width="100px" height="100px"/></a></td><td></td><td><p>106 key key</p><a href="parts_render_after_merging/106.png"><img src="parts_render_after_merging/106.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/bounding_box.json b/data/PartNet-Mobility/Keyboard/12838/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f10bfe913af6f3b351ea8f02f26fd15601d122
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.844327, -0.032436, -0.565166], "max": [0.866709, 0.050029, 0.581491]}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/meta.json b/data/PartNet-Mobility/Keyboard/12838/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..906976ae8a43d227d086c23de47da7fe43a6dc1a
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/meta.json
@@ -0,0 +1 @@
+{"model_id": "277e8f771b0aa88a6c71abf53b20bc9c", "anno_id": "12838", "user_id": "yz-majinghua", "time_in_sec": "194", "version": "2", "model_cat": "Keyboard"}
\ No newline at end of file
diff --git a/data/PartNet-Mobility/Keyboard/12838/mobility.urdf b/data/PartNet-Mobility/Keyboard/12838/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6d675bcc548fb5be53d03a5153bb1ddfb19bf872
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/mobility.urdf
@@ -0,0 +1,2156 @@
+<?xml version="1.0" ?>
+<robot name="partnet_277e8f771b0aa88a6c71abf53b20bc9c">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="key-2">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_1">
+		<visual name="key-3">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_1"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_2">
+		<visual name="key-4">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_2"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_3">
+		<visual name="key-5">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_3"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_4">
+		<visual name="key-6">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-32.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_4" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_4"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_5">
+		<visual name="key-7">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-46.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_5" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_5"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_6">
+		<visual name="key-8">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_6" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_6"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_7">
+		<visual name="key-9">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_7" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_7"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_8">
+		<visual name="key-10">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_8" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_8"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_9">
+		<visual name="key-11">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-41.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_9" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_9"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_10">
+		<visual name="key-12">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_10" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_10"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_11">
+		<visual name="key-13">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_11" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_11"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_12">
+		<visual name="key-14">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-49.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_12" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_12"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_13">
+		<visual name="key-15">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_13" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_13"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_14">
+		<visual name="key-16">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-30.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_14" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_14"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_15">
+		<visual name="key-17">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_15" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_15"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_16">
+		<visual name="key-18">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-21.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_16" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_16"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_17">
+		<visual name="key-19">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_17" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_17"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_18">
+		<visual name="key-20">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_18" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_18"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_19">
+		<visual name="key-21">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_19" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_19"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_20">
+		<visual name="key-22">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
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+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-43.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_20" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_20"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_21">
+		<visual name="key-23">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
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+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_21" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_21"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_22">
+		<visual name="key-24">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_22"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_23">
+		<visual name="key-25">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-96.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_23"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_24">
+		<visual name="key-26">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_24" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_24"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_25">
+		<visual name="key-27">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_25" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_25"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_26">
+		<visual name="key-28">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_26" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_26"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_27">
+		<visual name="key-29">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_27" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_27"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_28">
+		<visual name="key-30">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_28" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_28"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_29">
+		<visual name="key-31">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_29" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_29"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_30">
+		<visual name="key-32">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_30" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_30"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_31">
+		<visual name="key-33">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_31" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_31"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_32">
+		<visual name="key-34">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_32" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_32"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_33">
+		<visual name="key-35">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_33" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_33"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_34">
+		<visual name="key-36">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_34"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_35">
+		<visual name="key-37">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_35" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_35"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_36">
+		<visual name="key-38">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_36" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_36"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_37">
+		<visual name="key-39">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_37" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_37"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_38">
+		<visual name="key-40">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_38" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_38"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_39">
+		<visual name="key-41">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_39" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_39"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_40">
+		<visual name="key-42">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_40" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_40"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_41">
+		<visual name="key-43">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_41" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_41"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_42">
+		<visual name="key-44">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-77.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_42" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_42"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_43">
+		<visual name="key-45">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-39.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_43" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_43"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_44">
+		<visual name="key-46">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-54.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_44" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_44"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_45">
+		<visual name="key-47">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_45" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_45"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_46">
+		<visual name="key-48">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_46" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_46"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_47">
+		<visual name="key-49">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_47" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_47"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_48">
+		<visual name="key-50">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-52.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_48" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_48"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_49">
+		<visual name="key-51">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_49" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_49"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_50">
+		<visual name="key-52">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_50" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_50"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_51">
+		<visual name="key-53">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_51" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_51"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_52">
+		<visual name="key-54">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_52" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_52"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_53">
+		<visual name="key-55">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_53" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_53"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_54">
+		<visual name="key-56">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-40.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_54" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_54"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_55">
+		<visual name="key-57">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_55" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_55"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_56">
+		<visual name="key-58">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-29.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_56" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_56"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_57">
+		<visual name="key-59">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-25.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_57" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_57"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_58">
+		<visual name="key-60">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-35.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_58" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_58"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_59">
+		<visual name="key-61">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-36.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_59" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_59"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_60">
+		<visual name="key-62">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_60" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_60"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_61">
+		<visual name="key-63">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-45.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_61" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_61"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_62">
+		<visual name="key-64">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_62" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_62"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_63">
+		<visual name="key-65">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
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+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_63" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_63"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_64">
+		<visual name="key-66">
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+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_64"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_65">
+		<visual name="key-67">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_65"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_66">
+		<visual name="key-68">
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+			<geometry>
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+			</geometry>
+		</visual>
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+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_66"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_67">
+		<visual name="key-69">
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+			<geometry>
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+			</geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
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+	</link>
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+		<limit lower="0" upper="0.005"/>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<limit lower="0" upper="0.005"/>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_69"/>
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+		<limit lower="0" upper="0.005"/>
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
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+		<child link="link_70"/>
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+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-73">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-28.obj"/>
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+		</collision>
+	</link>
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+		<child link="link_71"/>
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+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-74">
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+			<geometry>
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+			<geometry>
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+		<child link="link_72"/>
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+		<limit lower="0" upper="0.005"/>
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+			<geometry>
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+			<geometry>
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+	</link>
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+		<child link="link_73"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-76">
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+			<geometry>
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+			<geometry>
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+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_74"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-77">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_75"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-78">
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+			<geometry>
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+			<geometry>
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+		</collision>
+	</link>
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+		<child link="link_76"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-79">
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+			<geometry>
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+			<geometry>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_77"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-80">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_78"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-81">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_79"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_80"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-84">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_81" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_81"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-85">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-83.obj"/>
+			</geometry>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_82"/>
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+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-86">
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+			<geometry>
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+			<geometry>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_83"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-87">
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+			<geometry>
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+			<geometry>
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+			</geometry>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_84"/>
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+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-88">
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+			<geometry>
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+			<geometry>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_85"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+		<visual name="key-89">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
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+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_86"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_87">
+		<visual name="key-90">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
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+		</collision>
+	</link>
+	<joint name="joint_87" type="prismatic">
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+		<axis xyz="0 -1 0"/>
+		<child link="link_87"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
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+	<link name="link_88">
+		<visual name="key-91">
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+			<geometry>
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+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+	</link>
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+		<axis xyz="0 -1 0"/>
+		<child link="link_88"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_89">
+		<visual name="key-92">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-89.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_89" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_89"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_90">
+		<visual name="key-93">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-90.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_90" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_90"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_91">
+		<visual name="key-94">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_91" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_91"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_92">
+		<visual name="key-95">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_92" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_92"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_93">
+		<visual name="key-96">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_93" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_93"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_94">
+		<visual name="key-97">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-33.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_94" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_94"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_95">
+		<visual name="key-98">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-14.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_95" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_95"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_96">
+		<visual name="key-99">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-26.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_96" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_96"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_97">
+		<visual name="key-100">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_97" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_97"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_98">
+		<visual name="key-101">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_98" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_98"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_99">
+		<visual name="key-102">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_99" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_99"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+	<link name="link_100">
+		<visual name="frame-114">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</visual>
+		<visual name="frame-114">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-103.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_100" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_100"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_101">
+		<visual name="key-115">
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.33749394325258053 -0.02924199999999999 -0.03802506258246541"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_101" type="prismatic">
+		<origin xyz="0.33749394325258053 0.02924199999999999 0.03802506258246541"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_101"/>
+		<parent link="link_100"/>
+		<limit lower="0" upper="0.005"/>
+	</joint>
+</robot>
diff --git a/data/PartNet-Mobility/Keyboard/12838/mobility_v2.json b/data/PartNet-Mobility/Keyboard/12838/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..54308cbf7e18e5b23ea0705f4ff8699d46a6f188
--- /dev/null
+++ b/data/PartNet-Mobility/Keyboard/12838/mobility_v2.json
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