diff --git "a/kettle/URDF_Data/meshes/dae/obj6.dae" "b/kettle/URDF_Data/meshes/dae/obj6.dae"
new file mode 100644--- /dev/null
+++ "b/kettle/URDF_Data/meshes/dae/obj6.dae"
@@ -0,0 +1,115 @@
+<?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="mat3-effect">
+      <profile_COMMON>
+        <newparam sid="Metal_Rough_jpg_001-surface">
+          <surface type="2D">
+            <init_from>Metal_Rough_jpg_001</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Metal_Rough_jpg_001-sampler">
+          <sampler2D>
+            <source>Metal_Rough_jpg_001-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Metal_Rough_jpg_001-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Metal_Rough_jpg_001" name="Metal_Rough_jpg_001">
+      <init_from>Metal_Rough.jpg.001.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="mat3-material" name="mat3">
+      <instance_effect url="#mat3-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="obj6-mesh" name="obj6">
+      <mesh>
+        <source id="obj6-mesh-positions">
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426 1145 2138 138 1147 2139 137 1150 2140 425 1148 2141 139 1149 2142 427 1151 2143 425 1148 2144 136 1144 2145 424 1146 2146 427 1151 2147 140 1152 2148 142 1156 2149 430 1153 2150 141 1155 2151 429 1158 2152 430 1153 2153 143 1157 2154 431 1159 2155 429 1158 2156 143 1157 2157 140 1152 2158 428 1154 2159 146 1160 2160 434 1164 2161 432 1161 2162 145 1163 2163 433 1166 2164 434 1164 2165 147 1165 2166 435 1167 2167 433 1166 2168 147 1165 2169 144 1162 2170 432 1161 2171 150 1168 2172 438 1172 2173 436 1169 2174 149 1171 2175 437 1174 2176 438 1172 2177 149 1171 2178 151 1175 2179 439 1173 2180 151 1175 2181 148 1170 2182 436 1169 2183 152 1176 2184 154 1179 2185 442 1177 2186 154 1179 2187 153 1182 2188 441 1180 2189 155 1181 2190 443 1183 2191 441 1180 2192 152 1176 2193 440 1178 2194 443 1183 2195 156 1184 2196 158 1187 2197 446 1185 2198 158 1187 2199 157 1190 2200 445 1188 2201 159 1189 2202 447 1191 2203 445 1188 2204 156 1184 2205 444 1186 2206 447 1191 2207 160 1192 2208 162 1196 2209 450 1193 2210 161 1195 2211 449 1198 2212 450 1193 2213 163 1197 2214 451 1199 2215 449 1198 2216 163 1197 2217 160 1192 2218 448 1194 2219 166 1200 2220 454 1204 2221 452 1201 2222 165 1203 2223 453 1206 2224 454 1204 2225 167 1205 2226 455 1207 2227 453 1206 2228 167 1205 2229 164 1202 2230 452 1201 2231 168 1208 2232 170 1211 2233 458 1209 2234 170 1211 2235 169 1214 2236 457 1212 2237 171 1213 2238 459 1215 2239 457 1212 2240 168 1208 2241 456 1210 2242 459 1215 2243 172 1216 2244 174 1220 2245 462 1217 2246 173 1219 2247 461 1222 2248 462 1217 2249 175 1221 2250 463 1223 2251 461 1222 2252 175 1221 2253 172 1216 2254 460 1218 2255 176 1224 2256 178 1228 2257 466 1225 2258 177 1227 2259 465 1230 2260 466 1225 2261 177 1227 2262 179 1231 2263 467 1229 2264 179 1231 2265 176 1224 2266 464 1226 2267 180 1232 2268 182 1236 2269 470 1233 2270 181 1235 2271 469 1238 2272 470 1233 2273 183 1237 2274 471 1239 2275 469 1238 2276 183 1237 2277 180 1232 2278 468 1234 2279 184 1240 2280 186 1243 2281 474 1241 2282 186 1243 2283 185 1246 2284 473 1244 2285 187 1245 2286 475 1247 2287 473 1244 2288 184 1240 2289 472 1242 2290 475 1247 2291 188 1248 2292 190 1251 2293 478 1249 2294 190 1251 2295 189 1254 2296 477 1252 2297 191 1253 2298 479 1255 2299 477 1252 2300 188 1248 2301 476 1250 2302 479 1255 2303 194 1256 2304 482 1260 2305 480 1257 2306 193 1259 2307 481 1262 2308 482 1260 2309 193 1259 2310 195 1263 2311 483 1261 2312 195 1263 2313 192 1258 2314 480 1257 2315 198 1264 2316 486 1268 2317 484 1265 2318 197 1267 2319 485 1270 2320 486 1268 2321 199 1269 2322 487 1271 2323 485 1270 2324 199 1269 2325 196 1266 2326 484 1265 2327 200 1272 2328 202 1276 2329 490 1273 2330 201 1275 2331 489 1278 2332 490 1273 2333 203 1277 2334 491 1279 2335 489 1278 2336 203 1277 2337 200 1272 2338 488 1274 2339 204 1280 2340 206 1284 2341 494 1281 2342 205 1283 2343 493 1286 2344 494 1281 2345 207 1285 2346 495 1287 2347 493 1286 2348 207 1285 2349 204 1280 2350 492 1282 2351 210 1288 2352 498 1292 2353 496 1289 2354 209 1291 2355 497 1294 2356 498 1292 2357 209 1291 2358 211 1295 2359 499 1293 2360 211 1295 2361 208 1290 2362 496 1289 2363 214 1296 2364 502 1300 2365 500 1297 2366 214 1296 2367 213 1464 2368 501 1299 2369 213 1301 2370 501 1465 2371 503 1302 2372 212 1304 2373 215 1303 2374 503 1302 2375 218 1306 2376 216 1313 2377 504 1307 2378 218 1306 2379 506 1308 2380 505 1309 2381 217 1310 2382 505 1309 2383 507 1311 2384 219 1312 2385 507 1311 2386 504 1307 2387 222 1314 2388 220 1321 2389 508 1315 2390 222 1314 2391 510 1316 2392 509 1317 2393 221 1318 2394 509 1317 2395 511 1319 2396 220 1321 2397 223 1320 2398 511 1319 2399 224 1322 2400 226 1325 2401 514 1323 2402 226 1325 2403 225 1328 2404 513 1326 2405 227 1327 2406 515 1329 2407 513 1326 2408 224 1322 2409 512 1324 2410 515 1329 2411 230 1330 2412 518 1334 2413 516 1331 2414 229 1333 2415 517 1336 2416 518 1334 2417 231 1335 2418 519 1337 2419 517 1336 2420 231 1335 2421 228 1332 2422 516 1331 2423 234 1338 2424 232 1345 2425 520 1339 2426 233 1341 2427 234 1338 2428 522 1340 2429 233 1341 2430 521 1342 2431 523 1343 2432 232 1345 2433 235 1344 2434 523 1343 2435 238 1346 2436 236 1353 2437 524 1347 2438 238 1346 2439 526 1348 2440 525 1349 2441 237 1350 2442 525 1349 2443 527 1351 2444 236 1353 2445 239 1352 2446 527 1351 2447 242 1354 2448 240 1361 2449 528 1355 2450 242 1354 2451 530 1356 2452 529 1357 2453 241 1358 2454 529 1357 2455 531 1359 2456 243 1360 2457 531 1359 2458 528 1355 2459 244 1362 2460 246 1365 2461 534 1363 2462 246 1365 2463 245 1466 2464 533 1366 2465 245 1367 2466 533 1467 2467 535 1368 2468 247 1369 2469 535 1368 2470 532 1370 2471 248 1372 2472 250 1375 2473 538 1373 2474 250 1375 2475 249 1378 2476 537 1376 2477 251 1377 2478 539 1379 2479 537 1376 2480 248 1372 2481 536 1374 2482 539 1379 2483 252 1380 2484 254 1384 2485 542 1381 2486 253 1383 2487 541 1468 2488 542 1381 2489 253 1385 2490 541 1469 2491 543 1386 2492 255 1387 2493 543 1386 2494 540 1388 2495 256 1390 2496 258 1393 2497 546 1391 2498 258 1393 2499 257 1396 2500 545 1394 2501 259 1395 2502 547 1397 2503 545 1394 2504 256 1390 2505 544 1392 2506 547 1397 2507 260 1398 2508 262 1401 2509 550 1399 2510 262 1401 2511 261 1404 2512 549 1402 2513 263 1403 2514 551 1405 2515 549 1402 2516 260 1398 2517 548 1400 2518 551 1405 2519 264 1406 2520 266 1410 2521 554 1407 2522 265 1409 2523 553 1412 2524 554 1407 2525 267 1411 2526 555 1413 2527 553 1412 2528 264 1406 2529 552 1408 2530 555 1413 2531 268 1414 2532 270 1417 2533 558 1415 2534 270 1417 2535 269 1470 2536 557 1418 2537 269 1419 2538 557 1471 2539 559 1420 2540 268 1422 2541 271 1421 2542 559 1420 2543 272 1424 2544 274 1427 2545 562 1425 2546 274 1427 2547 273 1430 2548 561 1428 2549 275 1429 2550 563 1431 2551 561 1428 2552 272 1424 2553 560 1426 2554 563 1431 2555 276 1432 2556 278 1436 2557 566 1433 2558 277 1435 2559 565 1438 2560 566 1433 2561 279 1437 2562 567 1439 2563 565 1438 2564 279 1437 2565 276 1432 2566 564 1434 2567 280 1440 2568 282 1443 2569 570 1441 2570 282 1443 2571 281 1446 2572 569 1444 2573 283 1445 2574 571 1447 2575 569 1444 2576 283 1445 2577 280 1440 2578 568 1442 2579 284 1448 2580 286 1451 2581 574 1449 2582 286 1451 2583 285 1454 2584 573 1452 2585 287 1453 2586 575 1455 2587 573 1452 2588 284 1448 2589 572 1450 2590 575 1455 2591</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="tmp_export_obj6" name="tmp_export_obj6" 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="#obj6-mesh" name="tmp_export_obj6">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="mat3-material" target="#mat3-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