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diff --git a/assets/urdf/USB/101994/textured_objs/original-61.obj b/assets/urdf/USB/101994/textured_objs/original-61.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f4dfe06436178e162a22cea9c8b4996785489105
--- /dev/null
+++ b/assets/urdf/USB/101994/textured_objs/original-61.obj
@@ -0,0 +1,57 @@
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+mtllib original-61.mtl
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diff --git a/assets/urdf/USB/101994/textured_objs/original-64.mtl b/assets/urdf/USB/101994/textured_objs/original-64.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/USB/101994/textured_objs/original-64.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102025/textured_objs/original-10.mtl b/assets/urdf/USB/102025/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102025/textured_objs/original-10.obj b/assets/urdf/USB/102025/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e45c654c58fbc15168d0f6b97fdab25c1dd67660
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-10.obj
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diff --git a/assets/urdf/USB/102025/textured_objs/original-11.mtl b/assets/urdf/USB/102025/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102025/textured_objs/original-11.obj b/assets/urdf/USB/102025/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a04f341411bdcfa506c47ca87928eaae395a85db
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-11.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
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diff --git a/assets/urdf/USB/102025/textured_objs/original-12.mtl b/assets/urdf/USB/102025/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..710fc58531afd6bbee4210be387c3adfa145a9d5
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-12.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/102025/textured_objs/original-12.obj b/assets/urdf/USB/102025/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbdbf9505a7517c4fbae3a13ca4419f014019e44
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-12.obj
@@ -0,0 +1,371 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
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index 0000000000000000000000000000000000000000..0e380eefe4b460c47a02066fe530fbd21b9b55ae
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index 0000000000000000000000000000000000000000..7708faf2d51fd14c81452e26baea971f428d0046
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index 0000000000000000000000000000000000000000..41ab28027da798107f49071a3f6de523528608e8
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diff --git a/assets/urdf/USB/102025/textured_objs/original-4.mtl b/assets/urdf/USB/102025/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..795230477f0cc4f2c019c38a6bc58f0e3c9cd975
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8392156862745098 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102025/textured_objs/original-4.obj b/assets/urdf/USB/102025/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86a91da994e22383464c91d25ed152b0e9ef2512
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-4.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
+v 0.297803 0.001422 0.519661
+v 0.297803 -0.006196 0.519661
+v 0.316850 0.001422 0.462524
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diff --git a/assets/urdf/USB/102025/textured_objs/original-5.mtl b/assets/urdf/USB/102025/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..795230477f0cc4f2c019c38a6bc58f0e3c9cd975
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8392156862745098 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102025/textured_objs/original-5.obj b/assets/urdf/USB/102025/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..097981a774d8e35a15472a4e8b0f033fa65ae749
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-5.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v -0.038670 0.001422 0.348251
+v -0.038670 0.001422 -0.280251
+v -0.057715 0.001422 0.405388
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diff --git a/assets/urdf/USB/102025/textured_objs/original-6.mtl b/assets/urdf/USB/102025/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..795230477f0cc4f2c019c38a6bc58f0e3c9cd975
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8392156862745098 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102025/textured_objs/original-6.obj b/assets/urdf/USB/102025/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a41f9e6ebaad88bff72c85715101bcb95f21b9b7
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-6.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v 0.062913 -0.006196 0.348251
+v 0.062913 0.001422 0.348251
+v 0.062913 -0.006196 -0.280251
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diff --git a/assets/urdf/USB/102025/textured_objs/original-7.mtl b/assets/urdf/USB/102025/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..795230477f0cc4f2c019c38a6bc58f0e3c9cd975
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0.8392156862745098 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/USB/102025/textured_objs/original-7.obj b/assets/urdf/USB/102025/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e437562f5b056770482844ecd441d5ed5bb4e8fd
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-7.obj
@@ -0,0 +1,67 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh4/mesh4-geometry#mesh4-geometry
+v -0.216425 -0.006196 -0.280251
+v -0.292607 -0.006196 -0.280251
+v -0.216425 0.001422 -0.280251
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diff --git a/assets/urdf/USB/102025/textured_objs/original-8.mtl b/assets/urdf/USB/102025/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4753a90547e1d4231a05fb72ddbfd7204470
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-8.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/USB/102025/textured_objs/original-8.obj b/assets/urdf/USB/102025/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d86e76c2bf0f1b9ff857597204f01cbaa65edcc
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-8.obj
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diff --git a/assets/urdf/USB/102025/textured_objs/original-9.mtl b/assets/urdf/USB/102025/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..838ebc414404ff943b642d66f3552dc0a1f30470
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/USB/102025/textured_objs/original-9.obj b/assets/urdf/USB/102025/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f06c5d774c67a167e87720af0be8f345b6f09761
--- /dev/null
+++ b/assets/urdf/USB/102025/textured_objs/original-9.obj
@@ -0,0 +1,155 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-13.obj b/assets/urdf/USB/102033/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..760e92470fd89979851f61c08849aa6b0cad4f47
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-13.obj
@@ -0,0 +1,84 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-21.obj b/assets/urdf/USB/102033/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37be818f77fc1cfeffb1c7412e7920ec88246493
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-21.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 21
+mtllib original-21.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-29.obj b/assets/urdf/USB/102033/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef802bd9106759105dd033d492b1ea451e7216b7
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-29.obj
@@ -0,0 +1,210 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-32.obj b/assets/urdf/USB/102033/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..16ba073321dc980425bf45102278780f7952e851
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-32.obj
@@ -0,0 +1,225 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-41.obj b/assets/urdf/USB/102033/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8fdd509f355e4cf1c1c23e49b269755aa701247
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-41.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-43.obj b/assets/urdf/USB/102033/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f053e41c9ba64fff3160e04a04f5182d271243
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-43.obj
@@ -0,0 +1,175 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-49.obj b/assets/urdf/USB/102033/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c43165536e23b96f39a253d121d0e53f1fa50db
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-49.obj
@@ -0,0 +1,167 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-53.mtl b/assets/urdf/USB/102033/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-57.mtl b/assets/urdf/USB/102033/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3523fc31d2439a5ea86f22617d3cbb4803da210
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-57.obj b/assets/urdf/USB/102033/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..95825df80e1f7b27f33b3bfb62e39b7480513f23
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-57.obj
@@ -0,0 +1,47 @@
+# SSTK version 0.8.0
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+mtllib original-57.mtl
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diff --git a/assets/urdf/USB/102033/textured_objs/original-58.obj b/assets/urdf/USB/102033/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7845700c6e260462cdb5d265a214f49488ae316
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-58.obj
@@ -0,0 +1,89 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/USB/102033/textured_objs/original-6.mtl b/assets/urdf/USB/102033/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85bed5e44cbd8f535cbfe6e1225cea1fde3d024d
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-6.mtl
@@ -0,0 +1,29 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-62.obj b/assets/urdf/USB/102033/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cd196ae606657d83ca622b5d8a26947fb45a0f8
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-62.obj
@@ -0,0 +1,199 @@
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diff --git a/assets/urdf/USB/102033/textured_objs/original-77.obj b/assets/urdf/USB/102033/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f528beadf82a70659fc1e1137b2207d46b81b092
--- /dev/null
+++ b/assets/urdf/USB/102033/textured_objs/original-77.obj
@@ -0,0 +1,27 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
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diff --git a/assets/urdf/USB/102063/textured_objs/original-1.mtl b/assets/urdf/USB/102063/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..035324da78ec1cf324bb9e818a06c9d52aa67cde
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/USB/102063/textured_objs/original-1.obj b/assets/urdf/USB/102063/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57aae4ededaf9cb2168c0a0eb0e16845574deb40
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-1.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-10.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/USB/102063/textured_objs/original-10.obj b/assets/urdf/USB/102063/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..229e36c518f3cca030308bade58f8ea1b25d21a9
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-10.obj
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+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git a/assets/urdf/USB/102063/textured_objs/original-11.obj b/assets/urdf/USB/102063/textured_objs/original-11.obj
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index 0000000000000000000000000000000000000000..199f21b432f914667497659d2775ff29d96ca30d
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-11.obj
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diff --git a/assets/urdf/USB/102063/textured_objs/original-25.obj b/assets/urdf/USB/102063/textured_objs/original-25.obj
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--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-25.obj
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+++ b/assets/urdf/USB/102063/textured_objs/original-29.obj
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diff --git a/assets/urdf/USB/102063/textured_objs/original-8.mtl b/assets/urdf/USB/102063/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-8.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/102063/textured_objs/original-8.obj b/assets/urdf/USB/102063/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09cc22829ef6ac12ab782d64b09eb8550ee59a5d
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-8.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/USB/102063/textured_objs/original-9.mtl b/assets/urdf/USB/102063/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/USB/102063/textured_objs/original-9.obj b/assets/urdf/USB/102063/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f7ca1fe1eb98e16371386d406c6f6789ce069f
--- /dev/null
+++ b/assets/urdf/USB/102063/textured_objs/original-9.obj
@@ -0,0 +1,12 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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