diff --git a/assets/urdf/Dispenser/101417/bounding_box.json b/assets/urdf/Dispenser/101417/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5a34d4d680d33187b27a76cd454e9526a5411d
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/bounding_box.json
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/grasp_poses.json b/assets/urdf/Dispenser/101417/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2acf1467c8f42b5d5fc244a8871a2b7e3fa1706c
--- /dev/null
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diff --git a/assets/urdf/Dispenser/101417/meta.json b/assets/urdf/Dispenser/101417/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6bd91f381850530256f800ea392be46ecb28bc4
--- /dev/null
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/mobility.urdf b/assets/urdf/Dispenser/101417/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a635eb64cff95f0d1a4a1c5557e8b515cd1f1df
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diff --git a/assets/urdf/Dispenser/101417/mobility_v2.json b/assets/urdf/Dispenser/101417/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e81c081c251beb8817357790e5c75ba13850ebf
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/model_data.json b/assets/urdf/Dispenser/101417/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d612f4cc08ce92c76858e0bb34df01322d288a20
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/model_data.json
@@ -0,0 +1,98 @@
+{
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+ "transform_matrix": [
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+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/result.json b/assets/urdf/Dispenser/101417/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a852038e0ed864f09d8021c891f42dab97ac74a
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "handle", "name": "handle", "id": 1, "objs": ["original-12"]}, {"text": "head (other)", "name": "other", "id": 4, "children": [{"text": "other_leaf", "name": "head", "id": 5, "objs": ["original-11", "original-14"]}]}, {"text": "nose (other)", "name": "other", "id": 6, "children": [{"text": "other_leaf", "name": "nose", "id": 7, "objs": ["original-8"]}]}, {"text": "base_body", "name": "base_body", "id": 8, "objs": ["original-29", "original-21", "original-30", "original-36", "original-41", "original-28", "original-64", "original-43", "original-52", "original-22", "original-26", "original-4", "original-3", "original-65", "original-33", "original-2", "original-44", "original-16", "original-45", "original-35", "original-49", "original-61", "original-39", "original-59", "original-54", "original-63", "original-27", "original-51", "original-55", "original-50", "original-6", "original-31", "original-37", "original-48", "original-15", "original-56", "original-62", "original-23", "original-66", "original-58", "original-67", "original-38", "original-68", "original-34", "original-18", "original-25", "original-17", "original-42", "original-24", "original-20", "original-32", "original-47", "original-53", "original-60", "original-19", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/result_original.json b/assets/urdf/Dispenser/101417/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..095ac3fa677f5da179bf32bbede6595f511e03bb
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "handle", "text": "handle", "objs": ["original-12"]}, {"id": 4, "name": "other", "text": "head (other)", "children": [{"id": 5, "name": "other_leaf", "text": "other_leaf", "objs": ["original-11", "original-14"]}]}, {"id": 6, "name": "other", "text": "nose (other)", "children": [{"id": 7, "name": "other_leaf", "text": "other_leaf", "objs": ["original-8"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101417/semantics.txt b/assets/urdf/Dispenser/101417/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..582065087471585324745a15287440d263b24a14
--- /dev/null
+++ b/assets/urdf/Dispenser/101417/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge handle
+link_1 free dispenser_body
+link_2 slider+ lid
diff --git a/assets/urdf/Dispenser/101489/bounding_box.json b/assets/urdf/Dispenser/101489/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..882046c1005b9a91a839ee18dd95d4123da4f13c
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.48418, -0.23101, -0.906958], "max": [0.461523, 0.436771, 0.849348]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/grasp_poses.json b/assets/urdf/Dispenser/101489/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f40546aad9b14b675bacbe182eb93b013dad6c
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "101489",
+ "scale": 0.1,
+ "grasp_parts": {
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+ "matrix": [
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+ -0.0,
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+ -0.699999988079071
+ ],
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+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
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+ "matrix": [
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+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/meta.json b/assets/urdf/Dispenser/101489/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd95aa9d2940f2021d789fb1a77c4cfd6609140
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5534ce8e-edeb-4f50-bc23-d31b210139e3", "version": "1", "anno_id": "1489", "time_in_sec": "22"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/mobility_v2.json b/assets/urdf/Dispenser/101489/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..783ea8fcdfa3d9d9ac8e18a20e9d59f1c03d61b8
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "slider", "name": "pressing_lid", "parts": [{"id": 1, "name": "pressing_lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0, 0.0], "direction": [0.0, 1.0, 0.0]}, "limit": {"a": 0, "b": -0.07, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 2, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/result.json b/assets/urdf/Dispenser/101489/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..857c3ae44172d714008996a842491ace6d77936e
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}, {"text": "base_body", "name": "base_body", "id": 2, "objs": ["original-8", "original-9", "original-7"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/result_original.json b/assets/urdf/Dispenser/101489/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c596b774e8a58510a0b7231eb5f6da4450f35c7
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-2", "original-6", "original-3", "original-5", "original-4"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101489/semantics.txt b/assets/urdf/Dispenser/101489/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4b21c7a63f572779c25d9ffdf5f845ad8f35f61
--- /dev/null
+++ b/assets/urdf/Dispenser/101489/semantics.txt
@@ -0,0 +1,2 @@
+link_0 slider pressing_lid
+link_1 free dispenser_body
diff --git a/assets/urdf/Dispenser/101546/bounding_box.json b/assets/urdf/Dispenser/101546/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebdd83a336910c56005734e3667e0e783904e9dd
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.323672, -0.727697, -0.323794], "max": [0.305317, 0.955828, 0.590972]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101546/grasp_poses.json b/assets/urdf/Dispenser/101546/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a9b01edb670a8a61360cbc4cd2564035188549
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "101546",
+ "scale": 0.1,
+ "grasp_parts": {
+ "mouth": [
+ {
+ "id": 0,
+ "matrix": [
+ [
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+ 0.0,
+ 0.0,
+ 0.0
+ ],
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+ 1.0,
+ 0.0,
+ 0.6000000238418579
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new file mode 100644
index 0000000000000000000000000000000000000000..531d6a399337c9ab1f882f7d3f2e4ea61bfa6037
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "b8d22469-945b-4863-bc26-078a4bd7f94c", "version": "1", "anno_id": "1546", "time_in_sec": "32"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101546/mobility_v2.json b/assets/urdf/Dispenser/101546/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e727dddf11606bc21f3d1ec6ba77d68ba30c6c7
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101546/model_data.json b/assets/urdf/Dispenser/101546/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddfe65b8fe4e77915a5446022e4217eb0c191f00
--- /dev/null
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diff --git a/assets/urdf/Dispenser/101546/result.json b/assets/urdf/Dispenser/101546/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a5c57e367ac95aa181ff1bbd0c4f06b56e629e
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-54", "original-51", "original-52"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-46"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-30", "original-28", "original-43", "original-22", "original-4", "original-3", "original-33", "original-44", "original-16", "original-8", "original-13", "original-45", "original-35", "original-49", "original-39", "original-5", "original-27", "original-6", "original-31", "original-37", "original-48", "original-15", "original-23", "original-38", "original-34", "original-25", "original-17", "original-12", "original-42", "original-24", "original-20", "original-53", "original-7", "original-10", "original-19", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101546/result_original.json b/assets/urdf/Dispenser/101546/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f36be29b455f8cebe09ff97f6c14b75871692a
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-54", "original-51", "original-52"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-46"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101546/semantics.txt b/assets/urdf/Dispenser/101546/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/assets/urdf/Dispenser/101546/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/assets/urdf/Dispenser/101565/bounding_box.json b/assets/urdf/Dispenser/101565/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..811f698104a72b59ab20a4d0dc080dd24ac1f617
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/bounding_box.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101565/grasp_poses.json b/assets/urdf/Dispenser/101565/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..781cfd6c04c13592bda131f5c8da0454d2e252ec
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/grasp_poses.json
@@ -0,0 +1,72 @@
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+ "scale": 0.1,
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new file mode 100644
index 0000000000000000000000000000000000000000..b347a1e99aa957d6bf561fad9010c9afc9595818
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101565/mobility.urdf b/assets/urdf/Dispenser/101565/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c608e715ee813056aba0d0e31e836392c3b8b63
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diff --git a/assets/urdf/Dispenser/101565/mobility_v2.json b/assets/urdf/Dispenser/101565/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7678bf2e0061103769dad9c3a23a6a4dd18fa0de
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101565/model_data.json b/assets/urdf/Dispenser/101565/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38bba4d41e5c86ac20dae3c057ddeea92c9a828
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/model_data.json
@@ -0,0 +1,98 @@
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+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101565/result.json b/assets/urdf/Dispenser/101565/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f747d4a2e269d24f3466d4d94c67410e5ffa68f3
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+++ b/assets/urdf/Dispenser/101565/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-97", "original-94", "original-95"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-47"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-100", "original-21", "original-30", "original-36", "original-41", "original-28", "original-96", "original-64", "original-43", "original-71", "original-52", "original-26", "original-4", "original-44", "original-16", "original-86", "original-8", "original-13", "original-9", "original-45", "original-35", "original-39", "original-59", "original-5", "original-77", "original-54", "original-63", "original-87", "original-51", "original-55", "original-50", "original-6", "original-31", "original-85", "original-76", "original-72", "original-99", "original-62", "original-75", "original-23", "original-66", "original-67", "original-69", "original-11", "original-38", "original-80", "original-34", "original-18", "original-70", "original-74", "original-91", "original-25", "original-17", "original-92", "original-24", "original-20", "original-32", "original-53", "original-7", "original-101", "original-1", "original-81", "original-84", "original-78", "original-89", "original-14", "original-82", "original-60", "original-90", "original-40", "original-46", "original-57"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/101565/semantics.txt b/assets/urdf/Dispenser/101565/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/assets/urdf/Dispenser/101565/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/assets/urdf/Dispenser/103372/grasp_poses.json b/assets/urdf/Dispenser/103372/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..18dbb3848f4c07e6354139b9fff8d17ad4e02b9c
--- /dev/null
+++ b/assets/urdf/Dispenser/103372/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103372",
+ "scale": 0.1,
+ "grasp_parts": {
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+ {
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+ "matrix": [
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+ "base": "base",
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+ "matrix": [
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+ }
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103372/meta.json b/assets/urdf/Dispenser/103372/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36392e889ed7502a52e7941c2e218715e90a6da2
--- /dev/null
+++ b/assets/urdf/Dispenser/103372/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "5a165eb3-f8b2-447e-907e-dd2d08524bca-0", "version": "2", "anno_id": "3372", "time_in_sec": "73"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/bounding_box.json b/assets/urdf/Dispenser/103379/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace9d10131a675bd9283a2b5b014c60e86fd91d7
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.235318, -0.490384, -0.245559], "max": [0.243359, 0.903127, 0.519956]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/grasp_poses.json b/assets/urdf/Dispenser/103379/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..068d6dc3eb71091cd1924d222a9fc7778e91c1be
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103379",
+ "scale": 0.1,
+ "grasp_parts": {
+ "mouth": [
+ {
+ "id": 0,
+ "matrix": [
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+ "base": "base",
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+ "body": [
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/meta.json b/assets/urdf/Dispenser/103379/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06171fa4a4a2d5c8d6687cdb1f8c4012f7e72961
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "6ff509da-bd03-4a9c-b719-4fca6a0ae4ae-1", "version": "1", "anno_id": "3379", "time_in_sec": "71"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/mobility.urdf b/assets/urdf/Dispenser/103379/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8538479b4870d3bb9473c14a7c6a2ca74fb4cf6f
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/mobility.urdf
@@ -0,0 +1,415 @@
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diff --git a/assets/urdf/Dispenser/103379/mobility_v2.json b/assets/urdf/Dispenser/103379/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a20fbd7a627c9781bc5aada192768854d7f4a18
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[0.0078049999999999994,0,-0.010200913966889325],"direction":[0,1,0]},"limit":{"a":0,"b":-0.03,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":4,"name":"head"}],"jointData":{"axis":{"origin":[0.004020499999999996,0,-0.006220000000000003],"direction":[0,-1,0]},"limit":{"a":0,"b":-0.052,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":5,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/model_data.json b/assets/urdf/Dispenser/103379/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..762d3f460e8e5bfacf2de4552a0228691776fa95
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.1,
+ "transform_matrix": [
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+ "init_qpos": [],
+ "grasp_parts": {
+ "mouth": [
+ {
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+ "matrix": [
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+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
+ {
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+ "matrix": [
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+ ],
+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/result.json b/assets/urdf/Dispenser/103379/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b55833fe68183cfee92392b6867978e4e456fef
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-32", "original-35", "original-36", "original-40", "original-34", "original-37", "original-41", "original-38", "original-39", "original-31"]}, {"text": "head (other)", "name": "other", "id": 3, "children": [{"text": "other_leaf", "name": "head", "id": 4, "objs": ["original-26", "original-19", "original-18", "original-20", "original-23", "original-21", "original-22", "original-24", "original-28", "original-27"]}]}, {"text": "base_body", "name": "base_body", "id": 5, "objs": ["original-4", "original-3", "original-8", "original-13", "original-9", "original-5", "original-6", "original-11", "original-17", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/result_original.json b/assets/urdf/Dispenser/103379/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d498da5bfebf7dfa4eeabe9a52e784205752d1
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-32", "original-35", "original-36", "original-40", "original-34", "original-37", "original-41", "original-38", "original-39", "original-31"]}, {"id": 3, "name": "other", "text": "head (other)", "children": [{"id": 4, "name": "other_leaf", "text": "other_leaf", "objs": ["original-26", "original-19", "original-18", "original-20", "original-23", "original-21", "original-22", "original-24", "original-28", "original-27"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103379/semantics.txt b/assets/urdf/Dispenser/103379/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/assets/urdf/Dispenser/103379/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/assets/urdf/Dispenser/103394/bounding_box.json b/assets/urdf/Dispenser/103394/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dbffdc4d204ccc9b57498e2a48405f04ea11e41
--- /dev/null
+++ b/assets/urdf/Dispenser/103394/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.316949, -0.663668, -0.316793], "max": [0.305355, 1.004546, 0.305511]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103394/grasp_poses.json b/assets/urdf/Dispenser/103394/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a4715b4918f0ddcf292dc50a8a58a1a424bf1ee
--- /dev/null
+++ b/assets/urdf/Dispenser/103394/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103394",
+ "scale": 0.1,
+ "grasp_parts": {
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+ {
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+ "matrix": [
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+ "base": "base",
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+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/bounding_box.json b/assets/urdf/Dispenser/103402/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c5e5ae626dc647d5e3518d98b34101e6cc5efd9
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.303047, -0.841879, -0.314849], "max": [0.312491, 1.05263, 0.300689]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/grasp_poses.json b/assets/urdf/Dispenser/103402/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..2daac6bd3b7ecf4b207f5675bdec60628c49e492
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/grasp_poses.json
@@ -0,0 +1,72 @@
+{
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+ "scale": 0.1,
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+ "base": "base",
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\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/meta.json b/assets/urdf/Dispenser/103402/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef291b8f01640d55d6f120f01f7da8ad540789dd
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "dd79686f-7fe7-4b1b-b219-148b4f4a463e", "version": "1", "anno_id": "3402", "time_in_sec": "40"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/mobility.urdf b/assets/urdf/Dispenser/103402/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ee64207b8044ae57d9eb7e0844ecf2a5d74bbca
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/mobility.urdf
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diff --git a/assets/urdf/Dispenser/103402/model_data.json b/assets/urdf/Dispenser/103402/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a745b224fbb05bd58760a35a7e7f2aae8fa0e7b9
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.1,
+ "transform_matrix": [
+ [
+ 1.0,
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+ "init_qpos": [],
+ "grasp_parts": {
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+ {
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+ "matrix": [
+ [
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+ 0.00033000000985339284,
+ 0.00033000000985339284,
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+ "matrix": [
+ [
+ -0.00824000034481287,
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+ "base": "base",
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+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/result.json b/assets/urdf/Dispenser/103402/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa211f24115ab2d16ccf732101d376670c2c4d9
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-6", "original-5", "original-7"]}, {"text": "outlier", "name": "outlier", "id": 2, "objs": ["original-8", "original-9"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-2", "original-1"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103402/result_original.json b/assets/urdf/Dispenser/103402/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c108ae93b792707c7be706b5678ae2a271158d84
--- /dev/null
+++ b/assets/urdf/Dispenser/103402/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-6", "original-5", "original-7"]}, {"id": 2, "name": "outlier", "text": "outlier", "objs": ["original-8", "original-9"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/bounding_box.json b/assets/urdf/Dispenser/103404/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece7edaf29fe24f739a022d9222a85d8cfa258ab
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.332453, -0.812546, -0.328244], "max": [0.322635, 0.940835, 0.624479]}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/grasp_poses.json b/assets/urdf/Dispenser/103404/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8ebe03f05f7b6f90295898a9ee6a7b0d155b49
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103404",
+ "scale": 0.1,
+ "grasp_parts": {
+ "mouth": [
+ {
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+ "matrix": [
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+ "base": "base",
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+ }
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+ "matrix": [
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+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/meta.json b/assets/urdf/Dispenser/103404/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..941068f6eaa262b8ea2ff959268198a23928f0fc
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/meta.json
@@ -0,0 +1 @@
+{"user_id": "ericyi", "model_cat": "Dispenser", "model_id": "de9e40b5-a083-4343-91ab-bc9a0686737f", "version": "1", "anno_id": "3404", "time_in_sec": "22"}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/mobility.urdf b/assets/urdf/Dispenser/103404/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efb7a6b387ff167f664e05db3d926b59e830b7ce
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/mobility.urdf
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diff --git a/assets/urdf/Dispenser/103404/mobility_v2.json b/assets/urdf/Dispenser/103404/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec236b5cb5f1be5b510d47c02cfcbab2b201d24
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"pressing_lid","parts":[{"id":1,"name":"pressing_lid"}],"jointData":{"axis":{"origin":[-0.004908849999871633,0,-0.0007743626358127781],"direction":[0,1,0]},"limit":{"a":0,"b":-0.05,"noLimit":false,"rotates":true,"noRotationLimit":true,"rotationLimit":0}}},{"id":1,"parent":2,"joint":"slider","name":"head","parts":[{"id":3,"name":"head"}],"jointData":{"axis":{"origin":[-0.004983500000000002,0,-0.0007740540707475568],"direction":[0,1,0]},"limit":{"a":0,"b":0.02,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":4,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/model_data.json b/assets/urdf/Dispenser/103404/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b430204d1def89f8c3bf4c730200ee179adc5e68
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.1,
+ "transform_matrix": [
+ [
+ 1.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0,
+ 0.0
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+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "init_qpos": [],
+ "grasp_parts": {
+ "mouth": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -1.0,
+ 0.0,
+ -0.0,
+ -0.0
+ ],
+ [
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+ 1.0,
+ 0.0,
+ -0.6000000238418579
+ ],
+ [
+ 0.0,
+ 0.0,
+ -1.0,
+ 1.2000000476837158
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.08540000021457672,
+ 0.008129999972879887,
+ 0.9963099956512451,
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+ [
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+ 0.025469999760389328
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/result.json b/assets/urdf/Dispenser/103404/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a5c57e367ac95aa181ff1bbd0c4f06b56e629e
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/result.json
@@ -0,0 +1 @@
+[{"text": "Dispenser", "name": "Dispenser", "id": 0, "children": [{"text": "pressing_lid", "name": "pressing_lid", "id": 1, "objs": ["original-54", "original-51", "original-52"]}, {"text": "head (other)", "name": "other", "id": 2, "children": [{"text": "other_leaf", "name": "head", "id": 3, "objs": ["original-46"]}]}, {"text": "base_body", "name": "base_body", "id": 4, "objs": ["original-29", "original-30", "original-28", "original-43", "original-22", "original-4", "original-3", "original-33", "original-44", "original-16", "original-8", "original-13", "original-45", "original-35", "original-49", "original-39", "original-5", "original-27", "original-6", "original-31", "original-37", "original-48", "original-15", "original-23", "original-38", "original-34", "original-25", "original-17", "original-12", "original-42", "original-24", "original-20", "original-53", "original-7", "original-10", "original-19", "original-40"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/result_original.json b/assets/urdf/Dispenser/103404/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f36be29b455f8cebe09ff97f6c14b75871692a
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Dispenser", "text": "Dispenser", "children": [{"id": 1, "name": "pressing_lid", "text": "pressing_lid", "objs": ["original-54", "original-51", "original-52"]}, {"id": 2, "name": "other", "text": "head (other)", "children": [{"id": 3, "name": "other_leaf", "text": "other_leaf", "objs": ["original-46"]}]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Dispenser/103404/semantics.txt b/assets/urdf/Dispenser/103404/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df6f559231caa5193d8f98e182e059d44b99483f
--- /dev/null
+++ b/assets/urdf/Dispenser/103404/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider+ lid
+link_1 slider+ lid
+link_2 free dispenser_body
diff --git a/assets/urdf/Dispenser/103406/mobility.urdf b/assets/urdf/Dispenser/103406/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5b8705cc795fbd63f622cd0200ebdb6b10d0652
--- /dev/null
+++ b/assets/urdf/Dispenser/103406/mobility.urdf
@@ -0,0 +1,115 @@
+
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-1.mtl b/assets/urdf/Lighter/100289/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-1.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/assets/urdf/Lighter/100289/textured_objs/original-1.obj b/assets/urdf/Lighter/100289/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..523c02a55dbdfa65c612f28c25e9d437e3abe947
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-1.obj
@@ -0,0 +1,481 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
+o Group1/mesh1/mesh1-geometry#mesh1-geometry
+v -0.178719 -0.702606 0.115015
+v -0.178719 -0.009009 -0.611533
+v -0.178719 -0.702607 -0.611510
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+v -0.173218 -0.723136 0.115015
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+v 0.170294 -0.009009 -0.611533
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+v 0.164793 -0.009009 -0.632063
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-11.mtl b/assets/urdf/Lighter/100289/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-11.obj b/assets/urdf/Lighter/100289/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e4c57e99cdc7fe0100390faf1bdbd32d453e35c
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-11.obj
@@ -0,0 +1,131 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Group10/mesh21/mesh21-geometry#mesh21-geometry
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-12.mtl b/assets/urdf/Lighter/100289/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-12.obj b/assets/urdf/Lighter/100289/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..202ea25ffb3f03ad735ba64b35895d73080f208b
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-12.obj
@@ -0,0 +1,131 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-13.mtl b/assets/urdf/Lighter/100289/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-13.obj b/assets/urdf/Lighter/100289/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a92a1347339216343927ff9dc259737dc2fcbb6
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-13.obj
@@ -0,0 +1,259 @@
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-14.mtl b/assets/urdf/Lighter/100289/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-14.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-14.obj b/assets/urdf/Lighter/100289/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c96de339a5a8a7f0afd10f9107110efd490cd2a
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-15.obj b/assets/urdf/Lighter/100289/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a1691a9e5af00471b8717a4fe99fc6600e64402
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-15.obj
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-16.mtl b/assets/urdf/Lighter/100289/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/Lighter/100289/textured_objs/original-16.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-16.obj b/assets/urdf/Lighter/100289/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d07fa264ebc2b49cc1a3eab0c12a3fcec39a9f8
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-17.obj b/assets/urdf/Lighter/100289/textured_objs/original-17.obj
new file mode 100644
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--- /dev/null
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-2.obj b/assets/urdf/Lighter/100289/textured_objs/original-2.obj
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-20.mtl b/assets/urdf/Lighter/100289/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-20.obj b/assets/urdf/Lighter/100289/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c0920118bc55b4e2cfdc1ad106f0dc263122a28
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-20.obj
@@ -0,0 +1,267 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-21.mtl b/assets/urdf/Lighter/100289/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-21.obj b/assets/urdf/Lighter/100289/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9caee5bb96b0a8c59c2475e2774c09f7538b6e
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-21.obj
@@ -0,0 +1,113 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-24.obj b/assets/urdf/Lighter/100289/textured_objs/original-24.obj
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index 0000000000000000000000000000000000000000..97dc136e103bfe800a37dd0a2615b6fa9033b6a6
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-25.obj b/assets/urdf/Lighter/100289/textured_objs/original-25.obj
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index 0000000000000000000000000000000000000000..782cea701659a59422155a24a64b0086b15f7022
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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index 0000000000000000000000000000000000000000..5c954cd1b68cb469c361262f8f4affacafa7046a
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-27.mtl b/assets/urdf/Lighter/100289/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-27.obj b/assets/urdf/Lighter/100289/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60f924a37067cca68bbeebb414cee60a7725933c
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-27.obj
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-28.mtl b/assets/urdf/Lighter/100289/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-28.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/assets/urdf/Lighter/100289/textured_objs/original-28.obj b/assets/urdf/Lighter/100289/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..94c1c6cb60db994f3f03a8268b6158eded1c3775
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-28.obj
@@ -0,0 +1,1409 @@
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-29.mtl b/assets/urdf/Lighter/100289/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-29.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/assets/urdf/Lighter/100289/textured_objs/original-29.obj b/assets/urdf/Lighter/100289/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9c5216c498a56825cd605ab0ad3c5c0f43f47f83
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-29.obj
@@ -0,0 +1,1231 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-3.mtl b/assets/urdf/Lighter/100289/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-3.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
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-3.obj b/assets/urdf/Lighter/100289/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfa419b0dfdaa625d3184be698ac9f12e01854c4
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-3.obj
@@ -0,0 +1,211 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-30.mtl b/assets/urdf/Lighter/100289/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Lighter/100289/textured_objs/original-30.obj b/assets/urdf/Lighter/100289/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b375feb8fb3441999f2e3c20261b8c52255e804c
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-30.obj
@@ -0,0 +1,1231 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-5.mtl b/assets/urdf/Lighter/100289/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-5.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/assets/urdf/Lighter/100289/textured_objs/original-5.obj b/assets/urdf/Lighter/100289/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2faf501cdb830a771198d6590868394820f36ed7
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-5.obj
@@ -0,0 +1,2459 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-6.mtl b/assets/urdf/Lighter/100289/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-6.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/assets/urdf/Lighter/100289/textured_objs/original-6.obj b/assets/urdf/Lighter/100289/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1dffcc6a0016d3405cae8956b2ef62c58c5bdac3
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-6.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o Group6/mesh12/mesh12-geometry#mesh12-geometry
+v -0.124978 0.246884 0.314150
+v 0.116554 0.246884 0.642230
+v -0.124978 0.246884 0.642230
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+v -0.124978 0.262986 0.314150
+vn 0 -1 0
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+usemtl material_0_0
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+f 8//1 6//1 5//1
diff --git a/assets/urdf/Lighter/100289/textured_objs/original-7.mtl b/assets/urdf/Lighter/100289/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Lighter/100289/textured_objs/original-7.obj b/assets/urdf/Lighter/100289/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aca7402ac68c7422c70bbd32d08d9234c70fd581
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-7.obj
@@ -0,0 +1,263 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o Group7/mesh14/mesh14-geometry#mesh14-geometry
+v 0.022572 0.221774 -0.603257
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-8.mtl b/assets/urdf/Lighter/100289/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-8.mtl
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diff --git a/assets/urdf/Lighter/100289/textured_objs/original-8.obj b/assets/urdf/Lighter/100289/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ded0261190ae6735291e62f9821127870e9bd75
--- /dev/null
+++ b/assets/urdf/Lighter/100289/textured_objs/original-8.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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index 0000000000000000000000000000000000000000..f10dd5fe5d9ed3555f0660978166c6bd8067b7ea
--- /dev/null
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index 0000000000000000000000000000000000000000..98af7de2f256c8ea2611dccd4c4b51aaca4ffe40
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diff --git a/assets/urdf/Lighter/100317/textured_objs/original-15.mtl b/assets/urdf/Lighter/100317/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..86bd7601b390e08ec66efc2f1483ceb4ed95ae93
--- /dev/null
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diff --git a/assets/urdf/Lighter/100317/textured_objs/original-15.obj b/assets/urdf/Lighter/100317/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7419b62f598131ffb62e73ba818172ccfdc3757
--- /dev/null
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diff --git a/assets/urdf/Lighter/100317/textured_objs/original-21.obj b/assets/urdf/Lighter/100317/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..794357a3d66a623fdc01a01c748380004ff2dbb8
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diff --git a/assets/urdf/Lighter/100317/textured_objs/original-23.mtl b/assets/urdf/Lighter/100317/textured_objs/original-23.mtl
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index 0000000000000000000000000000000000000000..34cbe8fdfd1f4792ea632ee28e54190b8d329ffd
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diff --git a/assets/urdf/Lighter/100317/textured_objs/original-36.obj b/assets/urdf/Lighter/100317/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e4a502679baf5161b00b4d48671b1a5b021020e
--- /dev/null
+++ b/assets/urdf/Lighter/100317/textured_objs/original-36.obj
@@ -0,0 +1,676 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
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diff --git a/assets/urdf/Lighter/100354/textured_objs/original-17.obj b/assets/urdf/Lighter/100354/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..311cdf0d31056e32a4a8c15bfe7417401df20956
--- /dev/null
+++ b/assets/urdf/Lighter/100354/textured_objs/original-17.obj
@@ -0,0 +1,221 @@
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diff --git a/assets/urdf/Lighter/100354/textured_objs/original-47.obj b/assets/urdf/Lighter/100354/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..84aba08eec8d9e02079cf5d64281392e96cdb7e8
--- /dev/null
+++ b/assets/urdf/Lighter/100354/textured_objs/original-47.obj
@@ -0,0 +1,385 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Lighter/103516/textured_objs/original-111.obj b/assets/urdf/Lighter/103516/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dafae4098918ef98f922520d3447810c12141afd
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-111.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 111
+mtllib original-111.mtl
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diff --git a/assets/urdf/Lighter/103516/textured_objs/original-113.obj b/assets/urdf/Lighter/103516/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb1015b04d328fee268f32f868ec5e7cf92285ff
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-113.obj
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+# SSTK version 0.8.0
+# 113
+mtllib original-113.mtl
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diff --git a/assets/urdf/Lighter/103516/textured_objs/original-13.mtl b/assets/urdf/Lighter/103516/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bcabca5dfcec5bfe9ef67ebc207368ff4ebeef2c
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-13.mtl
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diff --git a/assets/urdf/Lighter/103516/textured_objs/original-15.obj b/assets/urdf/Lighter/103516/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9092af5622df0af4140521cbf500a67cb60ae1f8
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-15.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Lighter/103516/textured_objs/original-16.obj b/assets/urdf/Lighter/103516/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..160e190f2dbac481e5976364ce5e4ad9bdd0936e
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-16.obj
@@ -0,0 +1,44 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh4/mesh4-geometry/material_2#mesh4-geometry
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+v -0.129511 -0.083044 -0.322753
+v -0.129511 -0.081643 -0.336337
+v -0.129511 -0.083044 -0.322753
+v -0.133027 -0.081643 -0.336337
+vn 0 0.9477338618728264 0.31906194862380327
+vn 0 0.9772468863488991 0.21210498136861816
+vn 0 0.9947292908728791 0.10253603210354599
+vn 0 -0.9477338618728264 -0.31906194862380327
+vn 0 -0.9772468863488991 -0.21210498136861816
+vn 0 -0.9947292908728791 -0.10253603210354599
+usemtl material_0_0
+f 1//1 2//2 3//1
+f 4//2 5//1 6//2
+f 7//2 8//3 9//2
+f 10//3 11//2 12//3
+usemtl material_1_0
+f 13//4 14//5 15//4
+f 16//5 17//4 18//5
+f 19//5 20//6 21//5
+f 22//6 23//5 24//6
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-35.obj b/assets/urdf/Lighter/103516/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2a2696d41cfde751333f1888381e9809c6b83e0
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-35.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o mesh5/mesh5-geometry/material_1/component_16#mesh5-geometry
+v 0.077521 0.300484 -0.551725
+v 0.077521 0.299802 -0.552366
+v 0.077521 0.299205 -0.553087
+v 0.077521 0.299205 -0.553087
+v 0.077521 0.299802 -0.552366
+v 0.077521 0.300484 -0.551725
+vt 0 0
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-52.mtl b/assets/urdf/Lighter/103516/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-52.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/assets/urdf/Lighter/103516/textured_objs/original-54.mtl b/assets/urdf/Lighter/103516/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-54.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/assets/urdf/Lighter/103516/textured_objs/original-55.obj b/assets/urdf/Lighter/103516/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..faed4c8f71afef8f0ebe6919c22037ba23b0d08a
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-55.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 55
+mtllib original-55.mtl
+o mesh5/mesh5-geometry/material_1/component_36#mesh5-geometry
+v -0.070092 0.317585 -0.548195
+v -0.070092 0.316350 -0.547794
+v -0.070092 0.316980 -0.547956
+v -0.070092 0.316980 -0.547956
+v -0.070092 0.316350 -0.547794
+v -0.070092 0.317585 -0.548195
+vt 0 0
+vn -1 0 0
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-65.obj b/assets/urdf/Lighter/103516/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..81b70d288aaf342ebb0348bcf9b87bbbd3b4aeb1
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-65.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh5/mesh5-geometry/material_1/component_46#mesh5-geometry
+v -0.070092 0.295569 -0.560982
+v -0.070092 0.295406 -0.562270
+v -0.070092 0.295447 -0.561621
+v -0.070092 0.295447 -0.561621
+v -0.070092 0.295406 -0.562270
+v -0.070092 0.295569 -0.560982
+vt 0 0
+vn -1 0 0
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-73.obj b/assets/urdf/Lighter/103516/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78ad2f1fb90d9c1a7eeae33e66e172cefa2a9c94
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-73.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o mesh5/mesh5-geometry/material_1/component_54#mesh5-geometry
+v -0.070092 0.328326 -0.565120
+v -0.070092 0.328285 -0.565769
+v -0.070092 0.328163 -0.566409
+v -0.070092 0.328163 -0.566409
+v -0.070092 0.328285 -0.565769
+v -0.070092 0.328326 -0.565120
+vt 0 0
+vn -1 0 0
+vn 1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-85.obj b/assets/urdf/Lighter/103516/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3703ca69511f8607c0e6ccf42e4d02656c81218f
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-85.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o mesh5/mesh5-geometry/material_1/component_66#mesh5-geometry
+v 0.077521 0.300484 -0.575665
+v 0.077521 0.299205 -0.574303
+v 0.077521 0.299802 -0.575024
+v 0.077521 0.299802 -0.575024
+v 0.077521 0.299205 -0.574303
+v 0.077521 0.300484 -0.575665
+vt 0 0
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2
diff --git a/assets/urdf/Lighter/103516/textured_objs/original-87.obj b/assets/urdf/Lighter/103516/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98387d03fd63ff627e13c5b44e81a2b83167ab12
--- /dev/null
+++ b/assets/urdf/Lighter/103516/textured_objs/original-87.obj
@@ -0,0 +1,16 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o mesh5/mesh5-geometry/material_1/component_68#mesh5-geometry
+v 0.077521 0.324527 -0.574303
+v 0.077521 0.323248 -0.575665
+v 0.077521 0.323930 -0.575024
+v 0.077521 0.323930 -0.575024
+v 0.077521 0.323248 -0.575665
+v 0.077521 0.324527 -0.574303
+vt 0 0
+vn 1 0 0
+vn -1 0 0
+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/2 5/1/2 6/1/2