diff --git "a/kettle/URDF_Data/meshes/dae/obj2.dae" "b/kettle/URDF_Data/meshes/dae/obj2.dae"
new file mode 100644--- /dev/null
+++ "b/kettle/URDF_Data/meshes/dae/obj2.dae"
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.4.3 commit date:2025-04-29, commit time:14:09, hash:802179c51ccc</authoring_tool>
+    </contributor>
+    <created>2025-06-19T13:42:30</created>
+    <modified>2025-06-19T13:42:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj2-mesh" name="obj2">
+      <mesh>
+        <source id="obj2-mesh-positions">
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682 1971 660 1970 704 2038 683 1975 661 1974 684 1977 661 1902 704 2039 684 2040 662 2041 685 2042 705 2043 685 2044 684 2045 686 1980 706 2046 685 2047 685 2047 663 1981 686 1980 686 1980 664 1979 687 2048 707 2049 687 2050 686 2051 687 2052 665 2053 688 2054 708 2055 688 2056 687 2050 689 2057 709 2058 688 2059 688 2059 666 2060 689 2057 690 2061 667 2062 710 2063 689 1988 710 2064 667 1920 692 2065 711 2066 691 2067 670 2000 691 2068 692 2002 671 2001 692 2002 693 2069 712 2070 693 2069 692 2002 694 2071 713 2072 693 2073 672 1937 693 2074 694 2005 695 2075 714 2076 694 2071 673 1939 694 2005 695 2077 696 2008 715 2078 695 2079 674 2080 695 2081 696 2082 697 2010 716 2083 696 2008 696 2008 675 1947 697 2010 698 2084 717 2085 697 2010 676 2014 697 2086 698 2012 698 2087 677 2088 699 2089 718 2090 699 2091 698 2092 699 2093 679 2094 701 2095 719 2096 701 2097 699 2098 719 2099 701 2026 680 2025 702 2035 680 2100 719 2101 702 2035 720 2102 682 2033 703 2103 682 2033 720 2102 703 2103 721 2104 683 2105 704 2106 683 2105 721 2104 684 2107 705 2108 722 2109 704 2039 722 2110 684 1977 685 2044 705 2043 706 2111 723 2112 706 2111 705 2043 707 2113 724 2114 706 2046 706 2046 686 1980 707 2113 687 2050 707 2049 708 2055 725 2115 708 2055 707 2049 708 2116 688 2059 709 2058 726 2117 709 2118 708 2055 710 2119 727 2120 709 2121 709 2058 689 2057 710 2122 712 2123 728 2124 711 2125 711 2126 692 2127 712 2128 693 2069 712 2070 713 2129 729 2130 713 2129 712 2070 713 2072 694 2071 714 2076 730 2131 714 2132 713 2129 715 2078 731 2133 714 2134 695 2135 714 2136 715 2137 716 2083 732 2138 715 2078 715 2078 696 2008 716 2083 717 2085 733 2139 716 2083 716 2083 697 2010 717 2085 718 2140 734 2141 717 2085 717 2085 698 2084 718 2140 719 2142 735 2143 718 2140 718 2140 699 2144 719 2142 719 2101 735 2145 702 2035 720 2102 702 2035 735 2145 720 2102 736 2146 703 2103 721 2104 703 2103 736 2146 704 2147 722 2148 737 2149 737 2149 721 2150 704 2147 705 2151 723 2152 738 2153 722 2154 738 2155 705 2156 724 2157 739 2158 723 2152 706 2111 723 2112 724 2159 707 2049 724 2160 725 2115 740 2161 725 2115 724 2160 708 2055 725 2115 726 2117 741 2162 726 2117 725 2115 726 2163 709 2164 727 2165 742 2166 727 2167 726 2168 712 2070 728 2169 729 2130 743 2170 729 2171 728 2172 730 2173 744 2174 729 2175 713 2129 729 2130 730 2131 731 2133 745 2176 730 2177 730 2177 714 2134 731 2133 732 2138 746 2178 731 2133 731 2133 715 2078 732 2138 733 2139 747 2179 732 2138 716 2180 732 2181 733 2182 734 2141 748 2183 733 2139 733 2139 717 2085 734 2141 735 2143 749 2184 734 2141 734 2141 718 2140 735 2143 749 2184 735 2143 720 2185 736 2146 720 2102 749 2186 750 2187 736 2188 721 2189 737 2190 721 2191 750 2192 722 2148 738 2153 751 2193 751 2193 737 2149 722 2148 723 2152 739 2158 752 2194 752 2194 738 2153 723 2152 739 2158 724 2157 740 2195 753 2196 740 2197 739 2198 741 2199 754 2200 740 2201 725 2115 740 2161 741 2162 742 2202 755 2203 741 2204 726 2117 741 2162 742 2205 744 2206 756 2207 743 2208 729 2209 743 2210 744 2211 730 2212 744 2213 745 2214 757 2215 745 2214 744 2213 745 2176 731 2133 746 2178 758 2216 746 2217 745 2218 746 2178 732 2138 747 2179 759 2219 747 2220 746 2217 748 2183 760 2221 747 2179 747 2179 733 2139 748 2183 749 2184 761 2222 748 2183 748 2183 734 2141 749 2184 749 2186 761 2223 736 2146 750 2224 736 2146 761 2223 737 2149 751 2193 762 2225 750 2192 762 2226 737 2190 738 2153 752 2194 763 2227 763 2227 751 2193 738 2153 752 2228 764 2229 739 2198 753 2196 739 2198 764 2229 754 2200 765 2230 753 2231 753 2231 740 2201 754 2200 755 2232 766 2233 754 2234 754 2200 741 2199 755 2235 757 2236 767 2237 756 2238 756 2239 744 2240 757 2241 758 2242 768 2243 757 2244 757 2244 745 2245 758 2242 759 2246 769 2247 758 2242 746 2217 758 2216 759 2219 747 2220 759 2219 760 2248 770 2249 760 2248 759 2219 761 2222 771 2250 760 2221 760 2221 748 2183 761 2222 771 2250 761 2222 750 2251 762 2226 750 2192 771 2252 751 2193 763 2227 772 2253 762 2254 772 2255 751 2256 752 2194 764 2257 773 2258 773 2258 763 2227 752 2194 753 2231 765 2230 774 2259 774 2259 764 2260 753 2231 766 2261 775 2262 765 2263 765 2230 754 2200 766 2264 768 2265 776 2266 767 2267 767 2268 757 2244 768 2243 769 2247 777 2269 768 2243 768 2243 758 2242 769 2247 770 2270 778 2271 769 2247 769 2247 759 2246 770 2270 771 2272 779 2273 770 2270 760 2248 770 2249 771 2274 762 2275 772 2276 779 2273 771 2252 779 2277 762 2226 780 2278 772 2253 763 2227 773 2279 763 2280 780 2281 764 2260 774 2259 781 2282 773 2283 781 2284 764 2285 765 2286 775 2287 782 2288 782 2289 774 2259 765 2230 777 2290 783 2291 776 2292 768 2293 776 2294 777 2295 778 2271 784 2296 777 2269 777 2269 769 2247 778 2271 779 2273 785 2297 778 2271 778 2271 770 2270 779 2273 785 2297 779 2273 772 2276 780 2298 772 2299 785 2300 773 2301 781 2302 786 2303 786 2303 780 2304 773 2301 774 2305 782 2306 787 2307 787 2308 781 2282 774 2259 784 2309 788 2310 783 2311 783 2312 777 2269 784 2296 785 2297 789 2313 784 2296 784 2296 778 2271 785 2297 780 2304 786 2303 789 2313 789 2313 785 2297 780 2304 790 2314 786 2303 781 2302 787 2315 781 2316 790 2317 789 2318 791 2319 788 2320 788 2321 784 2296 789 2313 786 2322 790 2323 791 2324 791 2325 789 2313 786 2303 3 2326 396 2327 399 2328 8 2329 396 2327 0 2330 16 2331 404 2332 412 2333 16 2331 422 2334 26 2335 128 2336 546 2337 150 2338 174 2339 548 2340 570 2341 206 2342 580 2343 184 2344 238 2345 612 2346 634 2347 294 2348 668 2349 272 2350 371 2351 756 2352 767 2353 395 2354 788 2355 791 2356 41 2357 451 2358 55 2359 109 2360 485 2361 89 2362 207 2363 581 2364 603 2365 263 2366 637 2367 659 2368 273 2369 691 2370 669 2371 26 2372 435 2373 422 2374 106 2375 524 2376 128 2336 130 2377 548 2340 152 2378 162 2379 580 2380 184 2381 216 2382 590 2383 612 2346 241 2384 614 2385 637 2367 250 2386 668 2387 272 2388 304 2389 678 2390 700 2391 314 2392 727 2393 710 2394 346 2395 755 2396 742 2397 379 2398 766 2399 370 2400 391 2401 782 2402 386 2403 394 2404 791 2356 790 2405 5 2406 399 2407 3 2408 19 2409 407 2410 415 2411 29 2412 415 2411 425 2413 185 2414 559 2415 163 2416 273 2417 647 2418 669 2419 332 2420 711 2421 728 2422 346 2423 727 2424 742 2425 347 2426 756 2352 360 2427 380 2428 767 2353 776 2429 379 2398 782 2402 775 2430 387 2431 788 2355 392 2432 162 2433 536 2434 140 2435 194 2436 568 2437 590 2383 196 2438 614 2385 218 2439 250 2386 624 2440 646 2441 282 2442 656 2443 678 2390 347 2444 728 2445 332 2446 387 2431 776 2429 783 2447 5 2448 407 2410 11 2449 29 2450 437 2451 425 2452 69 2453 449 2454 465 2455 87 2456 465 2455 483 2457 109 2360 526 2458 505 2459 163 2460 537 2461 559 2462 229 2463 647 2464 625 2465 304 2389 681 2466 285 2467 118 2468 515 2469 514 2470 118 2471 536 2434 514 2472 150 2473 568 2474 546 2475 174 2476 592 2477 570 2478 228 2479 602 2480 624 2440 238 2345 656 2443 260 2481 294 2482 710 2483 314 2484 53 2485 435 2373 39 2486 71 2487 451 2358 467 2488 89 2489 467 2488 485 2490 87 2456 502 2491 106 2375 119 2492 537 2461 141 2493 229 2463 603 2494 207 2495 285 2496 659 2368 681 2497 295 2498 711 2421 315 2499 370 2400 755 2396 359 2500 394 2501 787 2502 790 2503 3 2326 0 2330 396 2327 8 2329 404 2504 396 2327 16 2331 8 2505 404 2332 16 2331 412 2333 422 2334 128 2336 524 2376 546 2337 174 2339 152 2378 548 2340 206 2342 602 2506 580 2343 238 2345 216 2382 612 2346 294 2348 690 2507 668 2349 371 2351 360 2427 756 2352 395 2354 392 2432 788 2355 41 2357 437 2508 451 2358 109 2360 505 2459 485 2361 207 2363 185 2509 581 2364 263 2366 241 2384 637 2367 273 2369 295 2510 691 2370 26 2372 39 2486 435 2373 106 2375 502 2491 524 2376 130 2377 526 2511 548 2340 162 2379 558 2512 580 2380 216 2382 194 2436 590 2383 241 2384 218 2439 614 2385 250 2386 646 2441 668 2387 304 2389 282 2442 678 2390 314 2392 331 2513 727 2393 346 2395 359 2500 755 2396 379 2398 775 2430 766 2399 391 2401 787 2514 782 2402 394 2404 395 2354 791 2356 5 2406 401 2515 399 2407 19 2409 11 2449 407 2410 29 2412 19 2409 415 2411 185 2414 581 2516 559 2415 273 2417 251 2517 647 2418 332 2420 315 2499 711 2421 346 2423 331 2518 727 2424 347 2426 743 2519 756 2352 380 2428 371 2351 767 2353 379 2398 386 2403 782 2402 387 2431 783 2447 788 2355 162 2433 558 2520 536 2434 194 2436 172 2521 568 2437 196 2438 592 2522 614 2385 250 2386 228 2479 624 2440 282 2442 260 2481 656 2443 347 2444 743 2523 728 2445 387 2431 380 2428 776 2429 5 2448 401 2524 407 2410 29 2450 41 2525 437 2451 69 2453 53 2526 449 2454 87 2456 69 2453 465 2455 109 2360 130 2527 526 2458 163 2460 141 2493 537 2461 229 2463 251 2528 647 2464 304 2389 700 2391 681 2466 118 2468 119 2529 515 2469 118 2471 140 2435 536 2434 150 2473 172 2530 568 2474 174 2476 196 2531 592 2477 228 2479 206 2532 602 2480 238 2345 634 2347 656 2443 294 2482 690 2533 710 2483 53 2485 449 2534 435 2373 71 2487 55 2359 451 2358 89 2489 71 2487 467 2488 87 2456 483 2457 502 2491 119 2492 515 2535 537 2461 229 2463 625 2465 603 2494 285 2496 263 2366 659 2368 295 2498 691 2536 711 2421 370 2400 766 2399 755 2396 394 2501 391 2537 787 2502</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj2" name="tmp_export_obj2" 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="#obj2-mesh" name="tmp_export_obj2">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-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