diff --git "a/kettle/URDF_Data/meshes/dae/obj8.dae" "b/kettle/URDF_Data/meshes/dae/obj8.dae"
deleted file mode 100644--- "a/kettle/URDF_Data/meshes/dae/obj8.dae"
+++ /dev/null
@@ -1,115 +0,0 @@
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-    <modified>2025-06-19T13:42:30</modified>
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29205 1999 14882 29206 5347 14883 29207 2005 16515 29208 5353 17213 29209 5354 16516 29210 2005 16517 29211 5353 17214 29212 5355 14888 29213 2014 14890 29214 2013 16521 29215 5361 16519 29216 2015 14894 29217 5363 14893 29218 5361 16519 29219 2022 14895 29220 2021 16524 29221 5369 16522 29222 2021 16524 29223 2023 14899 29224 5371 14898 29225 2029 16525 29226 5377 16527 29227 5378 14901 29228 2031 14903 29229 5379 14904 29230 5377 16527 29231 2037 16528 29232 5385 16530 29233 5386 16529 29234 2037 16528 29235 2039 14909 29236 5387 14908 29237 2045 16531 29238 5393 16533 29239 5394 14911 29240 2045 16531 29241 2047 14914 29242 5395 14913 29243 2053 16534 29244 5401 16536 29245 5402 16535 29246 2055 14918 29247 5403 14919 29248 5401 16536 29249 2061 16537 29250 5409 16539 29251 5410 14921 29252 2061 16537 29253 2063 14924 29254 5411 14923 29255 2069 16540 29256 5417 16542 29257 5418 14926 29258 2071 14929 29259 5419 14928 29260 5417 16542 29261 2077 16543 29262 5425 16545 29263 5426 14931 29264 2079 14933 29265 5427 14934 29266 5425 16545 29267 2085 16546 29268 5433 17215 29269 5434 14936 29270 2087 16548 29271 2085 17216 29272 5433 16549 29273 2094 16550 29274 2093 16552 29275 5441 16551 29276 2095 14945 29277 5443 14944 29278 5441 16551 29279 2101 16553 29280 5449 16555 29281 5450 16554 29282 2103 14949 29283 5451 14950 29284 5449 16555 29285 2109 16556 29286 5457 17217 29287 5458 16557 29288 2109 16558 29289 5457 17218 29290 5459 14955 29291 2117 16560 29292 5465 16562 29293 5466 14958 29294 2119 14960 29295 5467 14961 29296 5465 16562 29297 2126 14962 29298 2125 16565 29299 5473 16563 29300 2125 16565 29301 2127 14966 29302 5475 14965 29303 2133 16566 29304 5481 16568 29305 5482 16567 29306 2133 16566 29307 2135 14971 29308 5483 14970 29309 2143 16569 29310 5491 17040 29311 5489 13592 29312 2151 16571 29313 5499 17219 29314 5497 16572 29315 2159 16573 29316 5507 17044 29317 5505 13597 29318 2165 13600 29319 5513 13599 29320 5515 16575 29321 2173 16577 29322 5521 16579 29323 5522 16578 29324 2173 16577 29325 2175 14984 29326 5523 14983 29327 2182 14985 29328 2181 16582 29329 5529 16580 29330 2183 14989 29331 5531 14988 29332 5529 16580 29333 2189 16583 29334 5537 16585 29335 5538 16584 29336 2189 16583 29337 2191 14993 29338 5539 14994 29339 2197 16586 29340 5545 16588 29341 5546 16587 29342 2197 16586 29343 2199 14998 29344 5547 14999 29345 2206 15000 29346 2205 16591 29347 5553 16589 29348 2205 16591 29349 2207 15004 29350 5555 15003 29351 2213 16592 29352 5561 17220 29353 5562 15006 29354 2215 15008 29355 2213 17221 29356 5561 16594 29357 2221 16596 29358 5569 16598 29359 5570 15012 29360 2223 15014 29361 5571 15015 29362 5569 16598 29363 2230 16599 29364 2229 16601 29365 5577 16600 29366 2231 15020 29367 5579 15019 29368 5577 16600 29369 2237 16602 29370 5585 17222 29371 5586 15022 29372 2239 15024 29373 2237 17223 29374 5585 16604 29375 2246 16606 29376 2245 16608 29377 5593 16607 29378 2245 16608 29379 2247 15031 29380 5595 15030 29381 2254 15032 29382 2253 16611 29383 5601 16609 29384 2253 16611 29385 2255 15036 29386 5603 15035 29387 2261 16612 29388 5609 16614 29389 5610 16613 29390 2261 16612 29391 2263 15040 29392 5611 15041 29393 2270 15042 29394 2269 16617 29395 5617 16615 29396 2271 15046 29397 5619 15045 29398 5617 16615 29399 2277 16618 29400 5625 16620 29401 5626 15048 29402 2279 15050 29403 5627 15051 29404 5625 16620 29405 2286 16621 29406 2285 16623 29407 5633 16622 29408 2287 15056 29409 5635 15055 29410 5633 16622 29411 2294 16624 29412 2293 16626 29413 5641 16625 29414 2293 16626 29415 2295 15061 29416 5643 15060 29417 2301 16627 29418 5649 16629 29419 5650 15063 29420 2303 15066 29421 5651 15065 29422 5649 16629 29423 2309 16630 29424 5657 16632 29425 5658 15068 29426 2309 16630 29427 2311 15070 29428 5659 15071 29429 2317 16633 29430 5665 16635 29431 5666 15073 29432 2317 16633 29433 2319 15075 29434 5667 15076 29435 2326 15077 29436 2325 16638 29437 5673 16636 29438 2325 16638 29439 2327 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16730 29616 5913 16732 29617 5914 15232 29618 2567 15234 29619 5915 15235 29620 5913 16732 29621 2574 15236 29622 2573 16735 29623 5921 16733 29624 2573 16735 29625 2575 15240 29626 5923 15239 29627 2581 16736 29628 5929 17232 29629 5930 15242 29630 2583 15244 29631 2581 17233 29632 5929 16738 29633 2590 15247 29634 2589 16742 29635 5937 16740 29636 2591 15251 29637 5939 15250 29638 5937 16740 29639 2597 16743 29640 5945 16745 29641 5946 15253 29642 2597 16743 29643 2599 15255 29644 5947 15256 29645 2606 16746 29646 2605 17234 29647 5953 16747 29648 2607 15260 29649 2605 17235 29650 5953 16748 29651 2613 16750 29652 5961 16752 29653 5962 15264 29654 2615 15266 29655 5963 15267 29656 5961 16752 29657 2621 16753 29658 5969 16755 29659 5970 16754 29660 2623 15272 29661 5971 15271 29662 5969 16755 29663 2630 16756 29664 2629 16758 29665 5977 16757 29666 2631 15277 29667 5979 15276 29668 5977 16757 29669 2638 16759 29670 2637 16761 29671 5985 16760 29672 2637 16761 29673 2639 15282 29674 5987 15281 29675 2646 16762 29676 2645 16764 29677 5993 16763 29678 2647 15287 29679 5995 15286 29680 5993 16763 29681 2653 16765 29682 6001 16767 29683 6002 16766 29684 2655 15291 29685 6003 15292 29686 6001 16767 29687 2662 16768 29688 2661 16770 29689 6009 16769 29690 2663 15297 29691 6011 15296 29692 6009 16769 29693 2670 15298 29694 2669 16773 29695 6017 16771 29696 2669 16773 29697 2671 15302 29698 6019 15301 29699 2678 15303 29700 2677 16776 29701 6025 16774 29702 2679 15306 29703 6027 15307 29704 6025 16774 29705 2685 16777 29706 6033 17236 29707 6034 15309 29708 2687 15311 29709 2685 17237 29710 6033 16779 29711 2694 15314 29712 2693 16783 29713 6041 16781 29714 2695 15318 29715 6043 15317 29716 6041 16781 29717 2701 16784 29718 6049 16786 29719 6050 16785 29720 2701 16784 29721 2703 15323 29722 6051 15322 29723 2710 16787 29724 2709 16789 29725 6057 16788 29726 2711 15327 29727 6059 15328 29728 6057 16788 29729 2718 16790 29730 2717 16792 29731 6065 16791 29732 2719 15333 29733 6067 15332 29734 6065 16791 29735 2726 15334 29736 2725 16795 29737 6073 16793 29738 2725 16795 29739 2727 15338 29740 6075 15337 29741 2734 15339 29742 2733 16798 29743 6081 16796 29744 2733 16798 29745 2735 15343 29746 6083 15342 29747 2741 16799 29748 6089 16801 29749 6090 16800 29750 2741 16799 29751 2743 15347 29752 6091 15348 29753 2749 16802 29754 6097 16804 29755 6098 15350 29756 2751 15352 29757 6099 15353 29758 6097 16804 29759 2758 15354 29760 2757 16807 29761 6105 16805 29762 2759 15358 29763 6107 15357 29764 6105 16805 29765 2765 16808 29766 6113 16810 29767 6114 16809 29768 2767 15362 29769 6115 15363 29770 6113 16810 29771 2774 15364 29772 2773 16813 29773 6121 16811 29774 2773 16813 29775 2775 15368 29776 6123 15367 29777 2781 16814 29778 6129 16816 29779 6130 15370 29780 2783 15372 29781 6131 15373 29782 6129 16816 29783 2790 16817 29784 2789 17238 29785 6137 16818 29786 2789 16819 29787 6137 17239 29788 6139 15378 29789 2797 16821 29790 6145 16823 29791 6146 15381 29792 2799 15383 29793 6147 15384 29794 6145 16823 29795 2806 15385 29796 2805 16826 29797 6153 16824 29798 2805 16826 29799 2807 15388 29800 6155 15389 29801 2814 15390 29802 2813 16829 29803 6161 16827 29804 2813 16829 29805 2815 15393 29806 6163 15394 29807 2821 16830 29808 6169 16832 29809 6170 15396 29810 2823 15398 29811 6171 15399 29812 6169 16832 29813 2829 16833 29814 6177 16835 29815 6178 16834 29816 2829 16833 29817 2831 15403 29818 6179 15404 29819 2838 15405 29820 2837 16838 29821 6185 16836 29822 2837 16838 29823 2839 15409 29824 6187 15408 29825 2846 15410 29826 2845 16841 29827 6193 16839 29828 2845 16841 29829 2847 15414 29830 6195 15413 29831 2854 15415 29832 2853 16844 29833 6201 16842 29834 2853 16844 29835 2855 15419 29836 6203 15418 29837 2861 16845 29838 6209 16847 29839 6210 15421 29840 2863 15423 29841 6211 15424 29842 6209 16847 29843 2869 16848 29844 6217 16850 29845 6218 16849 29846 2869 16848 29847 2871 15428 29848 6219 15429 29849 2877 16851 29850 6225 16853 29851 6226 16852 29852 2879 15433 29853 6227 15434 29854 6225 16853 29855 2886 16854 29856 2885 16856 29857 6233 16855 29858 2887 15439 29859 6235 15438 29860 6233 16855 29861 2894 15440 29862 2893 17240 29863 6241 16857 29864 2893 16859 29865 6241 17241 29866 6243 16860 29867 2901 16861 29868 6249 16863 29869 6250 16862 29870 2901 16861 29871 2903 15449 29872 6251 15450 29873 2909 16864 29874 6257 16866 29875 6258 16865 29876 2909 16864 29877 2911 15454 29878 6259 15455 29879 2918 15456 29880 2917 16869 29881 6265 16867 29882 2917 16869 29883 2919 15460 29884 6267 15459 29885 2925 16870 29886 6273 16872 29887 6274 16871 29888 2925 16870 29889 2927 15464 29890 6275 15465 29891 2934 15466 29892 2933 16875 29893 6281 16873 29894 2933 16875 29895 2935 15470 29896 6283 15469 29897 2941 16876 29898 6289 16878 29899 6290 15472 29900 2943 15475 29901 6291 15474 29902 6289 16878 29903 2949 16879 29904 6297 16881 29905 6298 16880 29906 2949 16879 29907 2951 15479 29908 6299 15480 29909 2957 16882 29910 6305 16884 29911 6306 16883 29912 2959 15484 29913 6307 15485 29914 6305 16884 29915 2966 16885 29916 2965 16887 29917 6313 16886 29918 2967 15490 29919 6315 15489 29920 6313 16886 29921 2974 16888 29922 2973 17242 29923 6321 16889 29924 2973 16890 29925 6321 17243 29926 6323 15495 29927 2982 15497 29928 2981 16894 29929 6329 16892 29930 2981 16894 29931 2983 15501 29932 6331 15500 29933 2989 16895 29934 6337 16897 29935 6338 16896 29936 2989 16895 29937 2991 15505 29938 6339 15506 29939 2997 16898 29940 6345 16900 29941 6346 16899 29942 2997 16898 29943 2999 15510 29944 6347 15511 29945 3006 16901 29946 3005 16903 29947 6353 16902 29948 3005 16903 29949 3007 15516 29950 6355 15515 29951 3013 16904 29952 6361 16906 29953 6362 16905 29954 3013 16904 29955 3015 15520 29956 6363 15521 29957 3022 16907 29958 3021 16909 29959 6369 16908 29960 3021 16909 29961 3023 15526 29962 6371 15525 29963 3029 16910 29964 6377 16912 29965 6378 15528 29966 3029 16910 29967 3031 15530 29968 6379 15531 29969 3037 16913 29970 6385 16915 29971 6386 16914 29972 3039 15535 29973 6387 15536 29974 6385 16915 29975 3046 15537 29976 3045 16918 29977 6393 16916 29978 3045 16918 29979 3047 15540 29980 6395 15541 29981 3053 16919 29982 6401 17244 29983 6402 16920 29984 3055 15545 29985 3053 17245 29986 6401 16921 29987 3062 16923 29988 3061 16925 29989 6409 16924 29990 3063 15552 29991 6411 15551 29992 6409 16924 29993 3070 15553 29994 3069 16928 29995 6417 16926 29996 3069 16928 29997 3071 15557 29998 6419 15556 29999 3078 15558 30000 3077 16931 30001 6425 16929 30002 3079 15562 30003 6427 15561 30004 6425 16929 30005 3085 16932 30006 6433 16934 30007 6434 16933 30008 3085 16932 30009 3087 15567 30010 6435 15566 30011 3093 16935 30012 6441 16937 30013 6442 15569 30014 3093 16935 30015 3095 15571 30016 6443 15572 30017 3102 15573 30018 3101 16940 30019 6449 16938 30020 3103 15577 30021 6451 15576 30022 6449 16938 30023 3109 16941 30024 6457 17246 30025 6458 15579 30026 3109 16943 30027 6457 17247 30028 6459 16944 30029 3117 16945 30030 6465 16947 30031 6466 15585 30032 3119 15587 30033 6467 15588 30034 6465 16947 30035 3125 16948 30036 6473 16950 30037 6474 15590 30038 3127 15593 30039 6475 15592 30040 6473 16950 30041 3133 16951 30042 6481 17248 30043 6482 15595 30044 3133 16953 30045 6481 17249 30046 6483 16954 30047 3142 15600 30048 3141 16957 30049 6489 16955 30050 3143 15604 30051 6491 15603 30052 6489 16955 30053 3150 16958 30054 3149 16960 30055 6497 16959 30056 3151 15609 30057 6499 15608 30058 6497 16959 30059 3157 16961 30060 6505 16963 30061 6506 16962 30062 3157 16961 30063 3159 15613 30064 6507 15614 30065 3165 16964 30066 6513 16966 30067 6514 16965 30068 3167 15618 30069 6515 15619 30070 6513 16966 30071 3174 15620 30072 3173 16969 30073 6521 16967 30074 3173 16969 30075 3175 15624 30076 6523 15623 30077 3182 15625 30078 3181 16972 30079 6529 16970 30080 3181 16972 30081 3183 15629 30082 6531 15628 30083 3190 16973 30084 3189 17250 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-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="tmp_export_obj8" name="tmp_export_obj8" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#obj8-mesh" name="tmp_export_obj8">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="mat6-material" target="#mat6-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file