diff --git a/assets/urdf/USB/101999/textured_objs/original-13.obj b/assets/urdf/USB/101999/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1094659aff40f6fb85fda2f0042dc77eb2b0a3e6
--- /dev/null
+++ b/assets/urdf/USB/101999/textured_objs/original-13.obj
@@ -0,0 +1,517 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-11.mtl b/assets/urdf/USB/102033/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-11.obj b/assets/urdf/USB/102033/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7281ff9ca43bd4343f365dba181d96b014a43403
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-11.obj
@@ -0,0 +1,133 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-12.mtl b/assets/urdf/USB/102033/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-12.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-12.obj b/assets/urdf/USB/102033/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2160842c3298dd6caa7ca254120bef6eea63f7b
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-12.obj
@@ -0,0 +1,175 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-14.mtl b/assets/urdf/USB/102033/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/assets/urdf/USB/102033/textured_objs/original-16.mtl b/assets/urdf/USB/102033/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-18.mtl b/assets/urdf/USB/102033/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-19.mtl b/assets/urdf/USB/102033/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-2.mtl b/assets/urdf/USB/102033/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a994faa47364b2a8fdd8fec101bfae3afb3c1a
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-2.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-2.obj b/assets/urdf/USB/102033/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbacb0199dde474a686bd47bfddf64c60b5c49ea
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-2.obj
@@ -0,0 +1,321 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-20.mtl b/assets/urdf/USB/102033/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-20.obj b/assets/urdf/USB/102033/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43ba7ee81dc7f506222100a9f56986522abd127c
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-20.obj
@@ -0,0 +1,160 @@
+# SSTK version 0.8.0
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+mtllib original-20.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-21.mtl b/assets/urdf/USB/102033/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-24.mtl b/assets/urdf/USB/102033/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-24.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-24.obj b/assets/urdf/USB/102033/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e040237354a614a205d3cecc50079442125396a
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-24.obj
@@ -0,0 +1,291 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-25.obj b/assets/urdf/USB/102033/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..874f9bd79a969212acf6c5b1f31e02ce2b73ee96
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-25.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-26.mtl b/assets/urdf/USB/102033/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/USB/102033/textured_objs/original-26.obj b/assets/urdf/USB/102033/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..035c766db62cf073e47a722e46a8ef9269d63386
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-26.obj
@@ -0,0 +1,99 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-27.mtl b/assets/urdf/USB/102033/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/USB/102033/textured_objs/original-27.obj b/assets/urdf/USB/102033/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..476b6cc69cafbff94a6c1692bcd19d284ef8828e
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-27.obj
@@ -0,0 +1,225 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-28.mtl b/assets/urdf/USB/102033/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/USB/102033/textured_objs/original-28.obj b/assets/urdf/USB/102033/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e346cfbcba022d73324bb00616b2fcb4024dfa9f
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-28.obj
@@ -0,0 +1,368 @@
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+# 28
+mtllib original-28.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-29.mtl b/assets/urdf/USB/102033/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/assets/urdf/USB/102033/textured_objs/original-3.mtl b/assets/urdf/USB/102033/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a994faa47364b2a8fdd8fec101bfae3afb3c1a
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-30.mtl b/assets/urdf/USB/102033/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-30.obj b/assets/urdf/USB/102033/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d488e895186dfc1a2fe7143a9fb7f24faf01beb
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-30.obj
@@ -0,0 +1,123 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-31.mtl b/assets/urdf/USB/102033/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-31.obj b/assets/urdf/USB/102033/textured_objs/original-31.obj
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index 0000000000000000000000000000000000000000..e8c79f12a0310aa47a284551f216cbe12e88e203
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-31.obj
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diff --git a/assets/urdf/USB/102033/textured_objs/original-32.mtl b/assets/urdf/USB/102033/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0115b7ccf38258430684048578ae7e05e70eade0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-34.mtl b/assets/urdf/USB/102033/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
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diff --git a/assets/urdf/USB/102033/textured_objs/original-35.mtl b/assets/urdf/USB/102033/textured_objs/original-35.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-36.mtl b/assets/urdf/USB/102033/textured_objs/original-36.mtl
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index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
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@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-36.obj b/assets/urdf/USB/102033/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a8067653dd5cc6b56193d2ebcf029c81bc63383
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-36.obj
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diff --git a/assets/urdf/USB/102033/textured_objs/original-40.mtl b/assets/urdf/USB/102033/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-40.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-41.mtl b/assets/urdf/USB/102033/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-44.mtl b/assets/urdf/USB/102033/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-44.obj b/assets/urdf/USB/102033/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ba459c7b087de9b5d8f1e12f93e960e5c7eee01
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-44.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
+o mesh38/mesh38-geometry#mesh38-geometry
+v 0.004085 0.067505 0.746348
+v 0.004711 0.067498 0.720663
+v 0.004711 0.067505 0.745575
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+vn 0.00017018517811000393 -0.9999999529587641 0.0002551851778049644
+vn -0.00017018517811000393 0.9999999529587641 -0.0002551851778049644
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 4//1 1//1 5//1
+f 4//1 5//1 6//1
+f 4//2 1//2 2//2
+f 5//2 1//2 4//2
+f 6//2 5//2 4//2
+f 3//2 2//2 1//2
diff --git a/assets/urdf/USB/102033/textured_objs/original-46.obj b/assets/urdf/USB/102033/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8875c7bfa51f20ec7a5a62b8ed739a5679a5bb4f
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-46.obj
@@ -0,0 +1,21 @@
+# SSTK version 0.8.0
+# 46
+mtllib original-46.mtl
+o mesh40/mesh40-geometry#mesh40-geometry
+v -0.029813 0.067499 0.745830
+v -0.022449 0.067493 0.720191
+v -0.021792 0.067494 0.720920
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+vn 0.00017018517811000393 -0.9999999529587641 0.0002551851778049644
+vn -0.00017018517811000393 0.9999999529587641 -0.0002551851778049644
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 4//2 1//2 2//2
+f 5//2 1//2 4//2
+f 5//1 1//1 6//1
+f 6//2 1//2 5//2
diff --git a/assets/urdf/USB/102033/textured_objs/original-47.obj b/assets/urdf/USB/102033/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3c1497191e7ff28606ee15a08cf538bf49c875b
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-47.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o mesh41/mesh41-geometry#mesh41-geometry
+v -0.040459 0.067497 0.745875
+v -0.034859 0.067492 0.724246
+v -0.034859 0.067493 0.726293
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+vn 0.00017018517811000393 -0.9999999529587641 0.0002551851778049644
+vn -0.00017018517811000393 0.9999999529587641 -0.0002551851778049644
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 16//1 15//1 14//1
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+f 17//1 16//1 18//1
+f 18//2 16//2 17//2
diff --git a/assets/urdf/USB/102033/textured_objs/original-48.obj b/assets/urdf/USB/102033/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a48b42cfa02d9214215606d3f4689a7949ae2ac2
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-48.obj
@@ -0,0 +1,177 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o mesh42/mesh42-geometry#mesh42-geometry
+v -0.055344 0.067493 0.740858
+v -0.055259 0.067491 0.732897
+v -0.054601 0.067493 0.738509
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+v -0.056350 0.067489 0.726798
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diff --git a/assets/urdf/USB/102033/textured_objs/original-49.mtl b/assets/urdf/USB/102033/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/assets/urdf/USB/102033/textured_objs/original-5.mtl b/assets/urdf/USB/102033/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0a994faa47364b2a8fdd8fec101bfae3afb3c1a
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 4
+d 0.99
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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diff --git a/assets/urdf/USB/102033/textured_objs/original-5.obj b/assets/urdf/USB/102033/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b40528ed8623156a992c9cfcbdddae005667ae73
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-5.obj
@@ -0,0 +1,285 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-51.obj b/assets/urdf/USB/102033/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f2d57c0eb31bf0ed25bf7347c3aebfde2bc0f71
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-51.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-53.obj b/assets/urdf/USB/102033/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3eed69bf7efc01c2b5397d8aee214ab194bbf29
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-53.obj
@@ -0,0 +1,84 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-54.obj b/assets/urdf/USB/102033/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46688e0eb22f8d33b6f8f1b3122c6c25a50bbcff
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-54.obj
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+# 54
+mtllib original-54.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-55.mtl b/assets/urdf/USB/102033/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-55.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-56.obj b/assets/urdf/USB/102033/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b78d6bd17bdfd6b3805d8c2fa44488f0febd26d5
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-56.obj
@@ -0,0 +1,39 @@
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+mtllib original-56.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-58.mtl b/assets/urdf/USB/102033/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-58.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-59.obj b/assets/urdf/USB/102033/textured_objs/original-59.obj
new file mode 100644
index 0000000000000000000000000000000000000000..178d0d872f9db74afa0971507fd2c8ac9b15c06a
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-59.obj
@@ -0,0 +1,27 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-6.obj b/assets/urdf/USB/102033/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..456a3174d3b3ac2f5c3122407558c8ae900527d5
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-6.obj
@@ -0,0 +1,6621 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-60.mtl b/assets/urdf/USB/102033/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-60.obj b/assets/urdf/USB/102033/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f1f8c0adebec9418c0978840a0c2af4f1a81e9e
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-60.obj
@@ -0,0 +1,30 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-61.mtl b/assets/urdf/USB/102033/textured_objs/original-61.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-61.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/USB/102033/textured_objs/original-61.obj b/assets/urdf/USB/102033/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b59cecf9f5962bf9f0c96d3427a2b107f32d4bac
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-61.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 61
+mtllib original-61.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-63.obj b/assets/urdf/USB/102033/textured_objs/original-63.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f245b43fefd358d247a967e80159db88c89c2b
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-63.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 63
+mtllib original-63.mtl
+o mesh56/mesh56-geometry#mesh56-geometry
+v -0.036956 0.067308 0.679728
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+usemtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-64.obj b/assets/urdf/USB/102033/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3be704c466cf8dfc44422af5698b18552890f35
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-64.obj
@@ -0,0 +1,76 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o mesh57/mesh57-geometry#mesh57-geometry
+v -0.049317 0.067306 0.693654
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+vn -0.00031897923149986496 0.9999999434894351 -0.0001061761571309252
+usemtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-65.mtl b/assets/urdf/USB/102033/textured_objs/original-65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-65.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-66.mtl b/assets/urdf/USB/102033/textured_objs/original-66.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-66.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-66.obj b/assets/urdf/USB/102033/textured_objs/original-66.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6464bbcce8c1732b942225f03fed0f690fb771d0
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-66.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 66
+mtllib original-66.mtl
+o mesh59/mesh59-geometry#mesh59-geometry
+v -0.078511 0.067295 0.679751
+v -0.077957 0.067295 0.679143
+v -0.074664 0.067297 0.693104
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+vn 0.00031897923149986496 -0.9999999434894351 0.0001061761571309252
+vn -0.00031897923149986496 0.9999999434894351 -0.0001061761571309252
+usemtl material_0_0
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+f 7//2 5//2 6//2
diff --git a/assets/urdf/USB/102033/textured_objs/original-67.mtl b/assets/urdf/USB/102033/textured_objs/original-67.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-67.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-67.obj b/assets/urdf/USB/102033/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294a50fe05b8ba58b290e6a3ee4a1846458e5540
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-67.obj
@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
+o mesh60/mesh60-geometry#mesh60-geometry
+v 0.052530 0.067334 0.658785
+v 0.052597 0.067334 0.656677
+v 0.052654 0.067334 0.657539
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+vn 0.00031897923149986496 -0.9999999434894351 0.0001061761571309252
+vn -0.00031897923149986496 0.9999999434894351 -0.0001061761571309252
+usemtl material_0_0
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+f 3//2 2//2 1//2
+f 4//1 5//1 6//1
+f 5//2 1//2 4//2
+f 4//2 1//2 2//2
diff --git a/assets/urdf/USB/102033/textured_objs/original-68.mtl b/assets/urdf/USB/102033/textured_objs/original-68.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-68.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-70.mtl b/assets/urdf/USB/102033/textured_objs/original-70.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-70.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-70.obj b/assets/urdf/USB/102033/textured_objs/original-70.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8db76d3b2b9d8c8d813398824f91317e815293f
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-70.obj
@@ -0,0 +1,221 @@
+# SSTK version 0.8.0
+# 70
+mtllib original-70.mtl
+o mesh63/mesh63-geometry#mesh63-geometry
+v 0.043771 0.067331 0.655145
+v 0.043786 0.067332 0.659906
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+vn -0.00031897923149986496 0.9999999434894351 -0.0001061761571309252
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diff --git a/assets/urdf/USB/102033/textured_objs/original-72.mtl b/assets/urdf/USB/102033/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-74.mtl b/assets/urdf/USB/102033/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.6 0.4745098039215686 0.11372549019607843 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102033/textured_objs/original-74.obj b/assets/urdf/USB/102033/textured_objs/original-74.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a3339a183abcc04b11fef995ecd1d96f68ca869
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-74.obj
@@ -0,0 +1,227 @@
+# SSTK version 0.8.0
+# 74
+mtllib original-74.mtl
+o mesh67/mesh67-geometry#mesh67-geometry
+v 0.009349 0.067321 0.658785
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diff --git a/assets/urdf/USB/102033/textured_objs/original-75.mtl b/assets/urdf/USB/102033/textured_objs/original-75.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-75.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-75.obj b/assets/urdf/USB/102033/textured_objs/original-75.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a032b4cb8e1e14860ae41099521e692ac4353e3
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-75.obj
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diff --git a/assets/urdf/USB/102033/textured_objs/original-76.obj b/assets/urdf/USB/102033/textured_objs/original-76.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac6f521a555de78ed3f79614f95724b952629b8d
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-76.obj
@@ -0,0 +1,150 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-77.mtl b/assets/urdf/USB/102033/textured_objs/original-77.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-77.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-78.mtl b/assets/urdf/USB/102033/textured_objs/original-78.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-78.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-79.mtl b/assets/urdf/USB/102033/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-79.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-79.obj b/assets/urdf/USB/102033/textured_objs/original-79.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3246cc2249006c67bbc3e345d48ce84031b0b5fb
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-79.obj
@@ -0,0 +1,30 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-8.mtl b/assets/urdf/USB/102033/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-8.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-8.obj b/assets/urdf/USB/102033/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..556064f25d5bdc0582f478657c3e6f55fa179b42
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-8.obj
@@ -0,0 +1,127 @@
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+mtllib original-8.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-9.obj b/assets/urdf/USB/102033/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99165dd78f95aeca0d00019e32ae1f3a5408b65
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-9.obj
@@ -0,0 +1,238 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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