diff --git a/.gitattributes b/.gitattributes
index be0c9ca2129e60e85ecafac153f3e1c82625614b..aec59142b78d2de1dba348a9360037a66b796375 100644
--- a/.gitattributes
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diff --git a/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.jpeg b/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.jpeg
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diff --git a/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.mtl b/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.mtl
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index 0000000000000000000000000000000000000000..b576d377e12334afb6620da13ba36fa5b5ff4087
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+# https://github.com/mikedh/trimesh
+
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diff --git a/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.obj b/objects/indoor_objects/001790dc77f14dc4be1885e7dc0db843/mesh/001790dc77f14dc4be1885e7dc0db843.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/0349c93a75174dce821f05648aff5aa6_rescaled.glb b/objects/indoor_objects/0349c93a75174dce821f05648aff5aa6_rescaled.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fb68c31487e79922dfcf0a440d7d04384d945177
--- /dev/null
+++ b/objects/indoor_objects/0349c93a75174dce821f05648aff5aa6_rescaled.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09d23ef2af22aca676d2b07ceb47d7976420dfafec173a1b7fff30daaf2b270
+size 4286736
diff --git a/objects/indoor_objects/04ae8954-578f-4237-b3de-e1cb9ec66ae1.glb b/objects/indoor_objects/04ae8954-578f-4237-b3de-e1cb9ec66ae1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49bd75d5f8e12c8789d671693250d053d3e36f7a
--- /dev/null
+++ b/objects/indoor_objects/04ae8954-578f-4237-b3de-e1cb9ec66ae1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.jpeg b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..8530720b28f47c176cbb2ca58dd7830b5214b7c1
--- /dev/null
+++ b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.mtl b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a3e3fff9bbae4b159bf00868aced2ab92c3e2f0c
--- /dev/null
+++ b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl 08c963100b6b466f9613c61925284f4c
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\ No newline at end of file
diff --git a/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.obj b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.obj
new file mode 100644
index 0000000000000000000000000000000000000000..684fdd6a471224457e184700fe7414369b203662
--- /dev/null
+++ b/objects/indoor_objects/08c963100b6b466f9613c61925284f4c/mesh/08c963100b6b466f9613c61925284f4c.obj
@@ -0,0 +1,1172 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/09dfde68-dac8-485f-a9f8-de42f22c87ed.glb b/objects/indoor_objects/09dfde68-dac8-485f-a9f8-de42f22c87ed.glb
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.jpeg b/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.jpeg
new file mode 100644
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diff --git a/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.mtl b/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.mtl
new file mode 100644
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+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.obj b/objects/indoor_objects/0f8a868fb5914e81b9e797cb17ad0241/mesh/0f8a868fb5914e81b9e797cb17ad0241.obj
new file mode 100644
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+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.jpeg b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..155018d4033f313add1000f31cfc4a0197ceba97
--- /dev/null
+++ b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da76118b701af089718b6c82333d4d11dff12c259fc9ad02a1e91858ba1ed8e2
+size 22835
diff --git a/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.mtl b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ce912da338414c470ffb8a2d7f37020c62fc968e
--- /dev/null
+++ b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl 111a77ed1fcd4b1e922b3033c175cb41
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+map_Kd 111a77ed1fcd4b1e922b3033c175cb41.jpeg
\ No newline at end of file
diff --git a/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.obj b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c7adf13e20d0489d60e732176f2327cd9a27d3b
--- /dev/null
+++ b/objects/indoor_objects/111a77ed1fcd4b1e922b3033c175cb41/mesh/111a77ed1fcd4b1e922b3033c175cb41.obj
@@ -0,0 +1,13471 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.mtl b/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e1c7b7aa4ac692340e4697cfd76a76673848f136
--- /dev/null
+++ b/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl 24e249673696400ca61b5f4e0a0fabde
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\ No newline at end of file
diff --git a/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.obj b/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f13045f555926438570dbd41389cd3209838def1
--- /dev/null
+++ b/objects/indoor_objects/24e249673696400ca61b5f4e0a0fabde/mesh/24e249673696400ca61b5f4e0a0fabde.obj
@@ -0,0 +1,128894 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.jpeg b/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.jpeg
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6d23348d599255146020adf2360206c75d9057aaa837858615e3c6e92376a0
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diff --git a/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.mtl b/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..87547611b8e212e6d0f3425ede20868270f41f4e
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+# https://github.com/mikedh/trimesh
+
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diff --git a/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.obj b/objects/indoor_objects/26ea1bc82e7945cf94f4d910595dfb71/mesh/26ea1bc82e7945cf94f4d910595dfb71.obj
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index 0000000000000000000000000000000000000000..26c148e66671a794bbbe13511f3b1ccef0532f47
--- /dev/null
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diff --git a/objects/indoor_objects/2b777f898a3d4ee9bf124390f0440b31.glb b/objects/indoor_objects/2b777f898a3d4ee9bf124390f0440b31.glb
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.jpeg b/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.jpeg
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diff --git a/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.mtl b/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.mtl
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diff --git a/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.obj b/objects/indoor_objects/362cb68133ef466b8de93fd101e1c42f/mesh/362cb68133ef466b8de93fd101e1c42f.obj
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diff --git a/objects/indoor_objects/6e78e11c53914820a56ba61d6aecc20f/mesh/6e78e11c53914820a56ba61d6aecc20f.mtl b/objects/indoor_objects/6e78e11c53914820a56ba61d6aecc20f/mesh/6e78e11c53914820a56ba61d6aecc20f.mtl
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diff --git a/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.jpeg b/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..df3024baf8e7255a854fee663d441d5f4e299142
--- /dev/null
+++ b/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.mtl b/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dea2f7ef52a4a8b55a3fc0c97742d6a67e451a06
--- /dev/null
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@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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\ No newline at end of file
diff --git a/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.obj b/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.obj
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index 0000000000000000000000000000000000000000..b44ab08ebfb22c7d6dedd259854ec9d3ae93dcf0
--- /dev/null
+++ b/objects/indoor_objects/724796dfa0ec4b94b91e25de9c918ff4/mesh/724796dfa0ec4b94b91e25de9c918ff4.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.jpeg b/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..f1a5657d46cb7433789d9d32246eb91ea2c74118
--- /dev/null
+++ b/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9940366416bcddfb0b0e2f9e4bfc9c82c3a45210b076db127ba69bd37d9f8348
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diff --git a/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.mtl b/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f19d139b1b69a11fe9653602c9bcddb818effab7
--- /dev/null
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+# https://github.com/mikedh/trimesh
+
+newmtl a1a42cf6c2c64163b95a882d24716e65
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\ No newline at end of file
diff --git a/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.obj b/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.obj
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index 0000000000000000000000000000000000000000..2bd75030d5b92c26ef39d947e6e2faa47e3e76dd
--- /dev/null
+++ b/objects/indoor_objects/a1a42cf6c2c64163b95a882d24716e65/mesh/a1a42cf6c2c64163b95a882d24716e65.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/a2ce58a7c4a64a42bfb13af2350d18db_rescaled.glb b/objects/indoor_objects/a2ce58a7c4a64a42bfb13af2350d18db_rescaled.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b815ad1b20fed17ecc43fd4f90cb43549a9841c2
--- /dev/null
+++ b/objects/indoor_objects/a2ce58a7c4a64a42bfb13af2350d18db_rescaled.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18bd575e9d05d068d6fa24a1ace7cf49322f01cb162e16921b0d923fcbf596d
+size 4253632
diff --git a/objects/indoor_objects/a4909ba08ad540c289d03c3c67b9d856.glb b/objects/indoor_objects/a4909ba08ad540c289d03c3c67b9d856.glb
new file mode 100644
index 0000000000000000000000000000000000000000..03de58c1920f2a0bf5b22c88eb99e803ec6c7db9
--- /dev/null
+++ b/objects/indoor_objects/a4909ba08ad540c289d03c3c67b9d856.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4170796
diff --git a/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.jpeg b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..ddfc569b3ca1ffab41286537fe940b139bc0e06c
--- /dev/null
+++ b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89bcb0d233a87960e113363217a7dbf253bccbc0e32e072e828bd2c3cabaf14a
+size 13353
diff --git a/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.mtl b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..21cce5b585a4640022ea4eebf74df047c9105fac
--- /dev/null
+++ b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
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+map_Kd b1170373ea834d74bbf2a15bf1c5a8e3.jpeg
\ No newline at end of file
diff --git a/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.obj b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c6bd06ba172f9a0047da24f2a7a6c538a0d59679
--- /dev/null
+++ b/objects/indoor_objects/b1170373ea834d74bbf2a15bf1c5a8e3/mesh/b1170373ea834d74bbf2a15bf1c5a8e3.obj
@@ -0,0 +1,4454 @@
+# https://github.com/mikedh/trimesh
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+usemtl b1170373ea834d74bbf2a15bf1c5a8e3
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diff --git a/objects/indoor_objects/b376d3660b9641b9859d4ab2b2a482cf.glb b/objects/indoor_objects/b376d3660b9641b9859d4ab2b2a482cf.glb
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/b72d5b00-9cb6-405e-8c0f-582f7aa483f8.glb b/objects/indoor_objects/b72d5b00-9cb6-405e-8c0f-582f7aa483f8.glb
new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/baee5f24-c774-45bb-b7ab-c5a37466f3ba.glb b/objects/indoor_objects/baee5f24-c774-45bb-b7ab-c5a37466f3ba.glb
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.jpeg b/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..ca2354179bb16ccc54669f1a2365017b32dedab2
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 14418
diff --git a/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.mtl b/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1798f4def902d40348d09192f517eafddbca9b17
--- /dev/null
+++ b/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl be2374c71e6347cfba1114267ada8bac
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\ No newline at end of file
diff --git a/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.obj b/objects/indoor_objects/be2374c71e6347cfba1114267ada8bac/mesh/be2374c71e6347cfba1114267ada8bac.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/c17d7406-08c3-4c1f-a055-6592a4bdb05d.glb b/objects/indoor_objects/c17d7406-08c3-4c1f-a055-6592a4bdb05d.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f2de29153143e5381a5f5ed3fd81defa2d180ae2
--- /dev/null
+++ b/objects/indoor_objects/c17d7406-08c3-4c1f-a055-6592a4bdb05d.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/c7421980-4301-41fb-ac34-cb6f1c1d89f7.glb b/objects/indoor_objects/c7421980-4301-41fb-ac34-cb6f1c1d89f7.glb
new file mode 100644
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--- /dev/null
+++ b/objects/indoor_objects/c7421980-4301-41fb-ac34-cb6f1c1d89f7.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.jpeg b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.jpeg
new file mode 100644
index 0000000000000000000000000000000000000000..19e37de04e20eea4e5fa7f9aba7721d4d254d21e
--- /dev/null
+++ b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.jpeg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.mtl b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..27595df7adffd400de5d8e2f96a9865c61463b10
--- /dev/null
+++ b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl c770f52361094eae91fd76025757fa7b
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+map_Kd c770f52361094eae91fd76025757fa7b.jpeg
\ No newline at end of file
diff --git a/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.obj b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.obj
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index 0000000000000000000000000000000000000000..8e88bda0832b5c312aa789b077a04cf3e187a02e
--- /dev/null
+++ b/objects/indoor_objects/c770f52361094eae91fd76025757fa7b/mesh/c770f52361094eae91fd76025757fa7b.obj
@@ -0,0 +1,13222 @@
+# https://github.com/mikedh/trimesh
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diff --git a/objects/indoor_objects/c88c3221f0b9436293a69a641948c36d_rescaled.glb b/objects/indoor_objects/c88c3221f0b9436293a69a641948c36d_rescaled.glb
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diff --git a/objects/indoor_objects/d8551ba8-a8a2-4e08-894e-3faa6989efce.glb b/objects/indoor_objects/d8551ba8-a8a2-4e08-894e-3faa6989efce.glb
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diff --git a/objects/indoor_objects/e22e4031-09ce-4a4a-b3a9-2d6bbe68499a.glb b/objects/indoor_objects/e22e4031-09ce-4a4a-b3a9-2d6bbe68499a.glb
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diff --git a/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.jpeg b/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.jpeg
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@@ -0,0 +1,3 @@
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diff --git a/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.mtl b/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.mtl
new file mode 100644
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+# https://github.com/mikedh/trimesh
+
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diff --git a/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.obj b/objects/indoor_objects/e9da35cab34749c09cbe1c5f4b298027/mesh/e9da35cab34749c09cbe1c5f4b298027.obj
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diff --git a/objects/indoor_objects/fc7cd2b7ce91456bbdbe1127ee4db17a/mesh/fc7cd2b7ce91456bbdbe1127ee4db17a.jpeg b/objects/indoor_objects/fc7cd2b7ce91456bbdbe1127ee4db17a/mesh/fc7cd2b7ce91456bbdbe1127ee4db17a.jpeg
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diff --git a/objects/indoor_objects/fc7cd2b7ce91456bbdbe1127ee4db17a/mesh/fc7cd2b7ce91456bbdbe1127ee4db17a.obj b/objects/indoor_objects/fc7cd2b7ce91456bbdbe1127ee4db17a/mesh/fc7cd2b7ce91456bbdbe1127ee4db17a.obj
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diff --git a/objects/indoor_objects/meshes_cf78fb0e/image.obj b/objects/indoor_objects/meshes_cf78fb0e/image.obj
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index 0000000000000000000000000000000000000000..cf4bab85c2ed7ed13c1e7521c7da39d2efc48d8d
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diff --git a/objects/outdoor_objects/retrieved/mesh/e6796407-f3c4-470b-a283-d5dc4c08bee8.glb b/objects/outdoor_objects/retrieved/mesh/e6796407-f3c4-470b-a283-d5dc4c08bee8.glb
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diff --git a/objects/outdoor_objects/retrieved/mesh/f164900d-2e42-4ce9-8e84-5f5d34919321.glb b/objects/outdoor_objects/retrieved/mesh/f164900d-2e42-4ce9-8e84-5f5d34919321.glb
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/objects/outdoor_objects/retrieved/scene_blenderkit_assets.json b/objects/outdoor_objects/retrieved/scene_blenderkit_assets.json
new file mode 100644
index 0000000000000000000000000000000000000000..24418f4c7ef226dd079b8e9cbdda9e14c3243ae3
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/scene_blenderkit_assets.json
@@ -0,0 +1,218 @@
+{
+  "class_ids": [
+    "bush",
+    "tree",
+    "cone",
+    "sign",
+    "street_light",
+    "traffic_light"
+  ],
+  "classes": [
+    {
+      "id": "bush",
+      "description": "green bushes",
+      "assets": [
+        {
+          "name": "Ficus Bush Trimmed",
+          "id": "de5510c6-2112-4b19-8c05-f934db0440a2",
+          "type": "model"
+        },
+        {
+          "name": "Holly Bush",
+          "id": "ce9df37e-696a-4386-a1b6-228b97994c21",
+          "type": "model"
+        },
+        {
+          "name": "Holly Bush Trimmed",
+          "id": "cb1f02cf-abc6-46cf-8cc4-8ac03acbfefb",
+          "type": "model"
+        },
+        {
+          "name": "Button Bush Large",
+          "id": "a0176016-f9a2-4595-ab78-6a2debf2916d",
+          "type": "model"
+        },
+        {
+          "name": "Button Bush Medium",
+          "id": "2b2f690b-f4e2-416a-8673-5ed335ea708a",
+          "type": "model"
+        },
+        {
+          "name": "Cranberry Bush Large",
+          "id": "076d9a82-a080-4791-aac6-4d0f06076341",
+          "type": "model"
+        },
+        {
+          "name": "Cranberry Bush Large Variation",
+          "id": "73c642ea-1ca2-4648-8dba-1fd5e404fb5b",
+          "type": "model"
+        }
+      ]
+    },
+    {
+      "id": "tree",
+      "description": "street trees (oak tree, pine tree, etc.)",
+      "assets": [
+        {
+          "name": "Broadleaf Dense Tree Adult",
+          "id": "599b0e84-d7f4-44ab-b26f-1572f49d2e65",
+          "type": "model"
+        },
+        {
+          "name": "Tree Siberian Pine A2",
+          "id": "ddde80ce-5365-4c01-bb0e-fc898894536e",
+          "type": "model"
+        },
+        {
+          "name": "Tree Alder A1 Large",
+          "id": "d91fc43e-8021-4517-b091-d562b6216a82",
+          "type": "model"
+        },
+        {
+          "name": "Tree Alder A6 Large",
+          "id": "07eafd56-a304-4665-878b-500965d3a4de",
+          "type": "model"
+        },
+        {
+          "name": "Tree Alder A7 Large",
+          "id": "4bfaa14e-01d3-4919-b275-5eba894b187f",
+          "type": "model"
+        },
+        {
+          "name": "Tree PineSiberian B1",
+          "id": "10f78da9-0fef-4b52-8b40-dfab39fd1bc7",
+          "type": "model"
+        },
+        {
+          "name": "Jacaranda Tree",
+          "id": "5e5b2685-3dbe-4d9b-830a-224a0c0faae4",
+          "type": "model"
+        },
+        {
+          "name": "Oak Tree",
+          "id": "5a80112a-73d8-4180-9f1c-4cdc7495d030",
+          "type": "model"
+        }
+      ]
+    },
+    {
+      "id": "cone",
+      "description": "traffic cones",
+      "assets": [
+        {
+          "name": "Traffic Cone",
+          "id": "c40f8c59-9987-4560-aa74-b225f418dfff",
+          "type": "model"
+        },
+        {
+          "name": "Traffic Cone",
+          "id": "956c7a35-5529-4246-9fdb-c90b9e4a1b7a",
+          "type": "model"
+        }
+      ]
+    },
+    {
+      "id": "sign",
+      "description": "road signs",
+      "assets": [
+        {
+          "name": "Danger Road Sign",
+          "id": "911cb13c-a417-4511-8de1-294e4553d0ae",
+          "type": "model"
+        },
+        {
+          "name": "No Parking Road Sign",
+          "id": "4ec521d8-8cb7-41fb-ad9b-b597b0a7ce9c",
+          "type": "model"
+        },
+        {
+          "name": "Only Straight Road Sign",
+          "id": "f164900d-2e42-4ce9-8e84-5f5d34919321",
+          "type": "model"
+        },
+        {
+          "name": "Roundabout Road Sign",
+          "id": "60765b4c-28ac-4148-ac17-d8dd7c36814b",
+          "type": "model"
+        },
+        {
+          "name": "Road Sign Stop French Standard (AB3)",
+          "id": "8246f271-d4c8-4282-b7e0-6c9799a285ce",
+          "type": "model"
+        },
+        {
+          "name": "Road Sign Speed French Std (B14)",
+          "id": "2134750f-42a1-4394-a99d-fda90f363ce0",
+          "type": "model"
+        },
+        {
+          "name": "Road Sign No Parking French Std (B6a1)",
+          "id": "df1764c1-f6a2-4cac-a72b-88bc4a076f11",
+          "type": "model"
+        },
+        {
+          "name": "Road Sign No Stop French Std (B6d)",
+          "id": "0ce75741-d470-40b9-a3cb-a800440d52d8",
+          "type": "model"
+        },
+        {
+          "name": "Road Sign Direction French Std (B21c)",
+          "id": "e6796407-f3c4-470b-a283-d5dc4c08bee8",
+          "type": "model"
+        }
+      ]
+    },
+    {
+      "id": "street_light",
+      "description": "street lights & lamps",
+      "assets": [
+        {
+          "name": "Street Lamp",
+          "id": "86b1e4bd-87c3-4b01-bdfe-fd7330c8d758",
+          "type": "model"
+        },
+        {
+          "name": "Street Light",
+          "id": "bcefc510-c220-418d-819b-051b7ffebfc0",
+          "type": "model"
+        },
+        {
+          "name": "Street Light",
+          "id": "ba4ef7c6-3dec-4415-b8cb-794f1af4a2ff",
+          "type": "model"
+        },
+        {
+          "name": "Street Light",
+          "id": "25f7eef0-7da4-4337-8741-f7fbc33fd036",
+          "type": "model"
+        },
+        {
+          "name": "Modern Street Light",
+          "id": "a5e9ffeb-089d-4701-8446-b94ea27a7b5a",
+          "type": "model"
+        }
+      ]
+    },
+    {
+      "id": "traffic_light",
+      "description": "traffic lights",
+      "assets": [
+        {
+          "name": "Traffic Light",
+          "id": "25f55577-cea8-4f58-8ca1-523f64662717",
+          "type": "model"
+        },
+        {
+          "name": "Traffic Light 01",
+          "id": "1ce4b2c6-09d2-4383-9d94-937d7d2f9a99",
+          "type": "model"
+        },
+        {
+          "name": "Traffic Light 03",
+          "id": "496c7f23-6259-4154-b01d-36c4884241eb",
+          "type": "model"
+        }
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/objects/outdoor_objects/retrieved/script.py b/objects/outdoor_objects/retrieved/script.py
new file mode 100644
index 0000000000000000000000000000000000000000..01a7d94466b9cbc0a35e7f873db3aed1bb88eda6
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/script.py
@@ -0,0 +1,7 @@
+import os 
+
+base_dir = 'street_light'
+
+for name in os.listdir(base_dir):
+    # move 'base_dir/{name}/resolution_1k.glb' to '{name}.glb'
+    os.rename(os.path.join(base_dir, name, 'resolution_1k.glb'), f'{name}.glb')
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike.urdf b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a15e8048a820ec26fb5906be5fb73b407937043b
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike.urdf
@@ -0,0 +1,158 @@
+<?xml version="1.0"?>
+<robot name="bike_model">
+    
+    <!-- Root Link -->
+    <link name="base_link">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1.0"/>
+            <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+        </inertial>
+    </link>
+
+    <!-- Root to dof_rootd -->
+    <joint name="joint_rootd" type="fixed">
+        <parent link="base_link"/>
+        <child link="link_rootd"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <!-- dof_rootd link: frame -->
+    <link name="link_rootd">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/none_motion.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/none_motion.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Aa001_r joint: handle to frame  -->
+    <joint name="joint_rootd_Aa001_r" type="revolute">
+        <parent link="link_rootd"/>
+        <child link="link_Aa001_r"/>
+        <origin xyz="0.272762 0 0.142873" rpy="0 0 0"/>
+        <axis xyz="0.0348995 0 0.999391"/>
+		<limit lower="-1.5" upper="1.5" effort="30" velocity="1.0"/>
+    </joint>
+
+    <!-- dof_Aa001 link: handle -->
+    <link name="link_Aa001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="-0.272762 0 -0.142873" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Aa001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="-0.272762 0 -0.142873" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Aa001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_Aa001_Ca001_r joint: front wheel to handle -->
+    <joint name="joint_Aa001_Ca001_r" type="continuous">
+        <parent link="link_Aa001_r"/>
+        <child link="link_Ca001_r"/>
+        <origin xyz="0.04658 0 -0.2307008" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ca001 link: front wheel -->
+    <link name="link_Ca001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="-0.319342 0 0.0878278" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_Aa001_Ca001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="-0.319342 0 0.0878278" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_Aa001_Ca001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Ba001_r joint: pedal to frame -->
+    <joint name="joint_rootd_Ba001_r" type="continuous">
+        <parent link="link_rootd"/>
+        <child link="link_Ba001_r"/>
+        <origin xyz="-0.00232324 0 -0.0850627" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ba001 link: pedal -->
+    <link name="link_Ba001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0.00232324 0 0.0850627" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ba001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.00232324 0 0.0850627" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ba001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Ca002_r joint: back wheel to frame -->
+    <joint name="joint_rootd_Ca002_r" type="continuous">
+        <parent link="link_rootd"/>
+        <child link="link_Ca002_r"/>
+        <origin xyz="-0.319741 0 -0.0901938" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ca002 link: back wheel -->
+    <link name="link_Ca002_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0.319741 0 0.0901938" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ca002_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.319741 0 0.0901938" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ca002_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+</robot>
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike_zup.urdf b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike_zup.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13707c159de8ca00f38b0a11a9a56727d1e0a8b1
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/bike_zup.urdf
@@ -0,0 +1,158 @@
+<?xml version="1.0"?>
+<robot name="bike_model_z_up">
+    
+    <!-- Root Link -->
+    <link name="base_link">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="1.0"/>
+            <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+        </inertial>
+    </link>
+
+    <!-- Root to dof_rootd -->
+    <joint name="joint_rootd" type="fixed">
+        <parent link="base_link"/>
+        <child link="link_rootd"/>
+        <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    </joint>
+
+    <!-- dof_rootd link: frame -->
+    <link name="link_rootd">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/none_motion.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/none_motion.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Aa001_r joint: handle to frame  -->
+    <joint name="joint_rootd_Aa001_r" type="revolute">
+        <parent link="link_rootd"/>
+        <child link="link_Aa001_r"/>
+        <origin xyz="0.272762 0 0.142873" rpy="0 0 0"/>
+        <axis xyz="0.0348995 0 0.999391"/>
+		<limit lower="-1.5" upper="1.5" effort="30" velocity="1.0"/>
+    </joint>
+
+    <!-- dof_Aa001 link: handle -->
+    <link name="link_Aa001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="-0.272762 0 -0.142873" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Aa001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="-0.272762 0 -0.142873" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Aa001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_Aa001_Ca001_r joint: front wheel to handle -->
+    <joint name="joint_Aa001_Ca001_r" type="continuous">
+        <parent link="link_Aa001_r"/>
+        <child link="link_Ca001_r"/>
+        <origin xyz="0.04658 0 -0.2307008" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ca001 link: front wheel -->
+    <link name="link_Ca001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="-0.319342 0 0.0878278" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_Aa001_Ca001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="-0.319342 0 0.0878278" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_Aa001_Ca001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Ba001_r joint: pedal to frame -->
+    <joint name="joint_rootd_Ba001_r" type="continuous">
+        <parent link="link_rootd"/>
+        <child link="link_Ba001_r"/>
+        <origin xyz="-0.00232324 0 -0.0850627" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ba001 link: pedal -->
+    <link name="link_Ba001_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0.00232324 0 0.0850627" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ba001_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.00232324 0 0.0850627" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ba001_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- dof_rootd_Ca002_r joint: back wheel to frame -->
+    <joint name="joint_rootd_Ca002_r" type="continuous">
+        <parent link="link_rootd"/>
+        <child link="link_Ca002_r"/>
+        <origin xyz="-0.319741 0 -0.0901938" rpy="0 0 0"/>
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <!-- dof_Ca002 link: back wheel -->
+    <link name="link_Ca002_r">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+        </inertial>
+        <visual>
+            <origin xyz="0.319741 0 0.0901938" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ca002_r.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.319741 0 0.0901938" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="part_objs/dof_rootd_Ca002_r.obj"/>
+            </geometry>
+        </collision>
+    </link>
+
+</robot>
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/flt/0001.flt b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/flt/0001.flt
new file mode 100644
index 0000000000000000000000000000000000000000..e55adb470d19b63cd86f1f9e9f300c4088b9307e
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/flt/0001.flt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87dfb659c5d257bb1b8393c35843250352bfd2a5f4e2a7d07d6f8c1c7705d731
+size 295540
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/motion_attributes.json b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/motion_attributes.json
new file mode 100644
index 0000000000000000000000000000000000000000..feca8c3cb64a5b315bbcf7e6e6fd72513293a427
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/motion_attributes.json
@@ -0,0 +1,77 @@
+{
+    "dof_name": "dof_rootd",
+    "motion_type": "none",
+    "center": [
+        0,
+        0,
+        0
+    ],
+    "direction": [
+        1,
+        0,
+        0
+    ],
+    "children": [
+        {
+            "dof_name": "dof_rootd_Aa001_r",
+            "motion_type": "rotation",
+            "center": [
+                0.272762,
+                -6.05654e-017,
+                0.142873
+            ],
+            "direction": [
+                0.0348995,
+                -7.74924e-018,
+                0.999391
+            ],
+            "children": [
+                {
+                    "dof_name": "dof_Aa001_Ca001_r",
+                    "motion_type": "rotation",
+                    "center": [
+                        0.319342,
+                        -7.09081e-017,
+                        -0.0878278
+                    ],
+                    "direction": [
+                        4.44089e-016,
+                        1,
+                        0
+                    ],
+                    "children": []
+                }
+            ]
+        },
+        {
+            "dof_name": "dof_rootd_Ba001_r",
+            "motion_type": "rotation",
+            "center": [
+                -0.00232324,
+                5.15864e-019,
+                -0.0850627
+            ],
+            "direction": [
+                4.44089e-016,
+                1,
+                0
+            ],
+            "children": []
+        },
+        {
+            "dof_name": "dof_rootd_Ca002_r",
+            "motion_type": "rotation",
+            "center": [
+                -0.319741,
+                7.09967e-017,
+                -0.0901938
+            ],
+            "direction": [
+                4.44089e-016,
+                1,
+                0
+            ],
+            "children": []
+        }
+    ]
+}
\ No newline at end of file
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8893ae39495eb6a13f1be9f0f71bbea186809ca9
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.mtl
@@ -0,0 +1,5 @@
+newmtl material_5
+       Ka 0 0 0 1
+       Kd 1 1 1 1
+       Ks 0.752941 0.752941 0.752941 1
+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06388abc007825cdc187f0c3f8c7e43032d73891
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r.obj
@@ -0,0 +1,1498 @@
+# file written by OpenSceneGraph
+
+mtllib dof_Aa001_Ca001_r.mtl
+
+
+g Aa001_Ca001_0
+
+g Aa001_Ca001_Bike_Old24_0
+
+o Aa001_Ca001_Bike_Old24_p281_Geometry_0
+usemtl material_5
+
+v 0.302936 0.00183992 0.0763085
+v 0.320217 -0.00177157 -0.0881122
+v 0.320217 0.00183993 -0.0881122
+v 0.320217 -0.00177157 -0.0881122
+v 0.302936 0.00183992 0.0763085
+v 0.302936 -0.00177158 0.0763085
+# 6 elements written
+
+vn 0.994522 -4.56909e-009 0.104529
+vn 0.994522 -4.56909e-009 0.104529
+vn 0.994522 -4.56909e-009 0.104529
+vn 0.994522 -4.56909e-009 0.104529
+vn 0.994522 -4.56909e-009 0.104529
+vn 0.994522 -4.56909e-009 0.104529
+# 6 elements written
+f 1//1 2//2 3//3 
+f 4//4 5//5 6//6 
+
+g Aa001_Ca001_Bike_Old26_0
+
+o Aa001_Ca001_Bike_Old26_p283_Geometry_0
+usemtl material_5
+
+v 0.302936 0.00183992 0.0763085
+v 0.320217 0.00183993 -0.0881122
+v 0.320217 -0.00177157 -0.0881122
+v 0.320217 -0.00177157 -0.0881122
+v 0.302936 -0.00177158 0.0763085
+v 0.302936 0.00183992 0.0763085
+# 6 elements written
+
+vn -0.994522 4.56909e-009 -0.104529
+vn -0.994522 4.56909e-009 -0.104529
+vn -0.994522 4.56909e-009 -0.104529
+vn -0.994522 4.56909e-009 -0.104529
+vn -0.994522 4.56909e-009 -0.104529
+vn -0.994522 4.56909e-009 -0.104529
+# 6 elements written
+f 7//7 8//8 9//9 
+f 10//10 11//11 12//12 
+
+g Aa001_Ca001_Bike_Old29_0
+
+o Aa001_Ca001_Bike_Old29_p285_Geometry_0
+usemtl material_5
+
+v 0.410524 0.00690818 -0.228633
+v 0.446455 -0.00753784 -0.197498
+v 0.446455 0.00690818 -0.197498
+v 0.446455 -0.00753784 -0.197498
+v 0.410524 0.00690818 -0.228633
+v 0.410524 -0.00753784 -0.228633
+v 0.367277 0.00690818 -0.248383
+v 0.410524 -0.00753784 -0.228633
+v 0.410524 0.00690818 -0.228633
+v 0.410524 -0.00753784 -0.228633
+v 0.367277 0.00690818 -0.248383
+v 0.367277 -0.00753784 -0.248383
+v 0.320217 0.00690818 -0.25515
+v 0.367277 -0.00753784 -0.248383
+v 0.367277 0.00690818 -0.248383
+v 0.367277 -0.00753784 -0.248383
+v 0.320217 0.00690818 -0.25515
+v 0.320217 -0.00753784 -0.25515
+v 0.273157 0.00690818 -0.248383
+v 0.320217 -0.00753784 -0.25515
+v 0.320217 0.00690818 -0.25515
+v 0.320217 -0.00753784 -0.25515
+v 0.273157 0.00690818 -0.248383
+v 0.273157 -0.00753784 -0.248383
+v 0.371388 -0.00753784 -0.262387
+v 0.367277 -0.00753784 -0.248383
+v 0.320217 -0.00753784 -0.25515
+v 0.367277 -0.00753784 -0.248383
+v 0.371388 -0.00753784 -0.262387
+v 0.418415 -0.00753784 -0.240911
+v 0.367277 -0.00753784 -0.248383
+v 0.418415 -0.00753784 -0.240911
+v 0.410524 -0.00753784 -0.228633
+v 0.410524 -0.00753784 -0.228633
+v 0.418415 -0.00753784 -0.240911
+v 0.457485 -0.00753784 -0.207056
+v 0.410524 -0.00753784 -0.228633
+v 0.457485 -0.00753784 -0.207056
+v 0.446455 -0.00753784 -0.197498
+v 0.446455 -0.00753784 -0.197498
+v 0.457485 -0.00753784 -0.207056
+v 0.485435 -0.00753784 -0.163565
+v 0.446455 -0.00753784 -0.197498
+v 0.485435 -0.00753784 -0.163565
+v 0.472159 -0.00753784 -0.157502
+v 0.472159 -0.00753784 -0.157502
+v 0.485435 -0.00753784 -0.163565
+v 0.5 -0.00753784 -0.113961
+v 0.472159 -0.00753784 -0.157502
+v 0.5 -0.00753784 -0.113961
+v 0.485554 -0.00753784 -0.111884
+v 0.485554 -0.00753784 -0.111884
+v 0.5 -0.00753784 -0.113961
+v 0.5 -0.00753784 -0.0622634
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+f 16//16 17//17 18//18 
+f 19//19 20//20 21//21 
+f 22//22 23//23 24//24 
+f 25//25 26//26 27//27 
+f 28//28 29//29 30//30 
+f 31//31 32//32 33//33 
+f 34//34 35//35 36//36 
+f 37//37 38//38 39//39 
+f 40//40 41//41 42//42 
+f 43//43 44//44 45//45 
+f 46//46 47//47 48//48 
+f 49//49 50//50 51//51 
+f 52//52 53//53 54//54 
+f 55//55 56//56 57//57 
+f 58//58 59//59 60//60 
+f 61//61 62//62 63//63 
+f 64//64 65//65 66//66 
+f 67//67 68//68 69//69 
+f 70//70 71//71 72//72 
+f 73//73 74//74 75//75 
+f 76//76 77//77 78//78 
+f 79//79 80//80 81//81 
+f 82//82 83//83 84//84 
+f 85//85 86//86 87//87 
+f 88//88 89//89 90//90 
+f 91//91 92//92 93//93 
+f 94//94 95//95 96//96 
+f 97//97 98//98 99//99 
+f 100//100 101//101 102//102 
+f 103//103 104//104 105//105 
+f 106//106 107//107 108//108 
+f 109//109 110//110 111//111 
+f 112//112 113//113 114//114 
+f 115//115 116//116 117//117 
+f 118//118 119//119 120//120 
+f 121//121 122//122 123//123 
+f 124//124 125//125 126//126 
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+f 130//130 131//131 132//132 
+f 133//133 134//134 135//135 
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+f 292//292 293//293 294//294 
+f 295//295 296//296 297//297 
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+f 349//349 350//350 351//351 
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+f 358//358 359//359 360//360 
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+f 415//415 416//416 417//417 
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+f 529//529 530//530 531//531 
+f 532//532 533//533 534//534 
+f 535//535 536//536 537//537 
+f 538//538 539//539 540//540 
+
+g Aa001_Ca001_Bike_Old30_0
+
+o Aa001_Ca001_Bike_Old30_p461_Geometry_0
+usemtl material_5
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+v 0.320217 -0.00177157 -0.0881122
+v 0.158503 0.00183993 -0.122486
+v 0.158503 -0.00177157 -0.122486
+# 84 elements written
+
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+vn -0.207912 -4.27562e-008 0.978148
+vn -0.207912 -4.27562e-008 0.978148
+# 84 elements written
+f 541//541 542//542 543//543 
+f 544//544 545//545 546//546 
+f 547//547 548//548 549//549 
+f 550//550 551//551 552//552 
+f 553//553 554//554 555//555 
+f 556//556 557//557 558//558 
+f 559//559 560//560 561//561 
+f 562//562 563//563 564//564 
+f 565//565 566//566 567//567 
+f 568//568 569//569 570//570 
+f 571//571 572//572 573//573 
+f 574//574 575//575 576//576 
+f 577//577 578//578 579//579 
+f 580//580 581//581 582//582 
+f 583//583 584//584 585//585 
+f 586//586 587//587 588//588 
+f 589//589 590//590 591//591 
+f 592//592 593//593 594//594 
+f 595//595 596//596 597//597 
+f 598//598 599//599 600//600 
+f 601//601 602//602 603//603 
+f 604//604 605//605 606//606 
+f 607//607 608//608 609//609 
+f 610//610 611//611 612//612 
+f 613//613 614//614 615//615 
+f 616//616 617//617 618//618 
+f 619//619 620//620 621//621 
+f 622//622 623//623 624//624 
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r_zup.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r_zup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8ff364a3123df5070245e6ebe160fed9fbcc9ac
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_Aa001_Ca001_r_zup.obj
@@ -0,0 +1,648 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d9e80c97f1e36852f7de3e92bb63f7e62fd2385
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.mtl
@@ -0,0 +1,5 @@
+newmtl material_2
+       Ka 0 0 0 1
+       Kd 1 1 1 1
+       Ks 0.752941 0.752941 0.752941 1
+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f654cc185fb558a214a50b54ec714beec48503be
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r.obj
@@ -0,0 +1,2011 @@
+# file written by OpenSceneGraph
+
+mtllib dof_rootd_Aa001_r.mtl
+
+
+g rootd_Aa001_0
+
+g rootd_Aa001_Bike_Old37_0
+
+o rootd_Aa001_Bike_Old37_p1_Geometry_0
+usemtl material_2
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+v 0.274546 -0.028892 0.248075
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+v 0.274546 -0.028892 0.248075
+v 0.281726 7.23019e-008 0.248075
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+v 0.274546 7.23019e-008 0.248075
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+v 0.274546 7.23019e-008 0.248075
+v 0.274546 7.16705e-008 0.262521
+v 0.274546 -0.028892 0.248075
+v 0.274546 -0.028892 0.262521
+# 126 elements written
+
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+vn -0.998708 -0.0508171 -4.58762e-008
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+vn 4.37114e-008 4.37114e-008 -1
+vn -0.998708 -0.0508171 -4.58762e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -0.998708 -0.0508171 -4.58762e-008
+vn -0.994822 -0.101634 -4.79276e-008
+# 126 elements written
+f 1//1 2//2 3//3 
+f 4//4 5//5 6//6 
+f 7//7 8//8 9//9 
+f 10//10 11//11 12//12 
+f 13//13 14//14 15//15 
+f 16//16 17//17 18//18 
+f 19//19 20//20 21//21 
+f 22//22 23//23 24//24 
+f 25//25 26//26 27//27 
+f 28//28 29//29 30//30 
+f 31//31 32//32 33//33 
+f 34//34 35//35 36//36 
+f 37//37 38//38 39//39 
+f 40//40 41//41 42//42 
+f 43//43 44//44 45//45 
+f 46//46 47//47 48//48 
+f 49//49 50//50 51//51 
+f 52//52 53//53 54//54 
+f 55//55 56//56 57//57 
+f 58//58 59//59 60//60 
+f 61//61 62//62 63//63 
+f 64//64 65//65 66//66 
+f 67//67 68//68 69//69 
+f 70//70 71//71 72//72 
+f 73//73 74//74 75//75 
+f 76//76 77//77 78//78 
+f 79//79 80//80 81//81 
+f 82//82 83//83 84//84 
+f 85//85 86//86 87//87 
+f 88//88 89//89 90//90 
+f 91//91 92//92 93//93 
+f 94//94 95//95 96//96 
+f 97//97 98//98 99//99 
+f 100//100 101//101 102//102 
+f 103//103 104//104 105//105 
+f 106//106 107//107 108//108 
+f 109//109 110//110 111//111 
+f 112//112 113//113 114//114 
+f 115//115 116//116 117//117 
+f 118//118 119//119 120//120 
+f 121//121 122//122 123//123 
+f 124//124 125//125 126//126 
+
+g rootd_Aa001_Bike_Old38_0
+
+o rootd_Aa001_Bike_Old38_p43_Geometry_0
+usemtl material_2
+
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+v 0.274546 0.0288921 0.262521
+# 126 elements written
+
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+vn 4.37114e-008 4.37114e-008 -1
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+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn -0.998642 0.052101 -4.13746e-008
+vn -0.999999 0.00147998 -4.36467e-008
+vn -0.999999 0.00147998 -4.36467e-008
+vn -0.999999 0.00147998 -4.36467e-008
+vn -0.998642 0.052101 -4.13746e-008
+vn -0.994711 0.102718 -3.89902e-008
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn 0.998708 -0.0508171 4.14336e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 0.998708 -0.0508171 4.14336e-008
+vn 0.994822 -0.101634 3.90425e-008
+# 126 elements written
+f 127//127 128//128 129//129 
+f 130//130 131//131 132//132 
+f 133//133 134//134 135//135 
+f 136//136 137//137 138//138 
+f 139//139 140//140 141//141 
+f 142//142 143//143 144//144 
+f 145//145 146//146 147//147 
+f 148//148 149//149 150//150 
+f 151//151 152//152 153//153 
+f 154//154 155//155 156//156 
+f 157//157 158//158 159//159 
+f 160//160 161//161 162//162 
+f 163//163 164//164 165//165 
+f 166//166 167//167 168//168 
+f 169//169 170//170 171//171 
+f 172//172 173//173 174//174 
+f 175//175 176//176 177//177 
+f 178//178 179//179 180//180 
+f 181//181 182//182 183//183 
+f 184//184 185//185 186//186 
+f 187//187 188//188 189//189 
+f 190//190 191//191 192//192 
+f 193//193 194//194 195//195 
+f 196//196 197//197 198//198 
+f 199//199 200//200 201//201 
+f 202//202 203//203 204//204 
+f 205//205 206//206 207//207 
+f 208//208 209//209 210//210 
+f 211//211 212//212 213//213 
+f 214//214 215//215 216//216 
+f 217//217 218//218 219//219 
+f 220//220 221//221 222//222 
+f 223//223 224//224 225//225 
+f 226//226 227//227 228//228 
+f 229//229 230//230 231//231 
+f 232//232 233//233 234//234 
+f 235//235 236//236 237//237 
+f 238//238 239//239 240//240 
+f 241//241 242//242 243//243 
+f 244//244 245//245 246//246 
+f 247//247 248//248 249//249 
+f 250//250 251//251 252//252 
+
+g rootd_Aa001_Bike_Old20_0
+
+o rootd_Aa001_Bike_Old20_p85_Geometry_0
+usemtl material_2
+
+v 0.280539 -0.00753786 0.247726
+v 0.280539 0.00690816 0.247726
+v 0.276347 0.00690816 0.137332
+v 0.276347 0.00690816 0.137332
+v 0.276347 -0.00753785 0.137332
+v 0.280539 -0.00753786 0.247726
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+v 0.273322 -0.00753786 0.248
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+v 0.276347 -0.00753785 0.137332
+v 0.276347 0.00690816 0.137332
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+v 0.269129 0.00690816 0.137607
+v 0.269129 -0.00753785 0.137607
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+v 0.276347 0.00690816 0.137332
+v 0.280539 0.00690816 0.247726
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+v 0.273322 0.00690816 0.248
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+v 0.280539 -0.00753786 0.247726
+v 0.276347 -0.00753785 0.137332
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+v 0.269129 -0.00753785 0.137607
+v 0.273322 -0.00753786 0.248
+v 0.280539 -0.00753786 0.247726
+# 36 elements written
+
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.99928 -1.65887e-009 0.0379505
+vn -0.0379409 4.36799e-008 -0.99928
+vn -0.0379409 4.36799e-008 -0.99928
+vn -0.0379409 4.36799e-008 -0.99928
+vn -0.0379409 4.36799e-008 -0.99928
+vn -0.0379409 4.36799e-008 -0.99928
+vn -0.0379409 4.36799e-008 -0.99928
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.99928 1.65887e-009 -0.0379505
+vn 0.03796 -4.36799e-008 0.999279
+vn 0.03796 -4.36799e-008 0.999279
+vn 0.03796 -4.36799e-008 0.999279
+vn 0.03796 -4.36799e-008 0.999279
+vn 0.03796 -4.36799e-008 0.999279
+vn 0.03796 -4.36799e-008 0.999279
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+# 36 elements written
+f 253//253 254//254 255//255 
+f 256//256 257//257 258//258 
+f 259//259 260//260 261//261 
+f 262//262 263//263 264//264 
+f 265//265 266//266 267//267 
+f 268//268 269//269 270//270 
+f 271//271 272//272 273//273 
+f 274//274 275//275 276//276 
+f 277//277 278//278 279//279 
+f 280//280 281//281 282//282 
+f 283//283 284//284 285//285 
+f 286//286 287//287 288//288 
+
+g rootd_Aa001_Bike_Old40_0
+
+o rootd_Aa001_Bike_Old40_p97_Geometry_0
+usemtl material_2
+
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+v 0.284572 -0.00811511 0.0541364
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+v 0.279106 -0.0153381 0.116501
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+v 0.279999 -0.00811511 0.095638
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+v 0.279106 -0.0153381 0.116501
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+v 0.271922 -0.0153381 0.137476
+v 0.279106 -0.0153381 0.116501
+v 0.279145 -0.0153381 0.137463
+# 276 elements written
+
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+vn 0.980262 -8.64178e-009 0.197701
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+vn 0.999915 -5.69549e-010 0.0130298
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+vn 0.999611 -1.21985e-009 0.0279068
+vn 0.00183864 -4.37113e-008 0.999998
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+vn 0.430021 3.94635e-008 -0.902819
+vn 0.430021 3.94635e-008 -0.902819
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+vn 0.909122 -1.82071e-008 0.41653
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+vn 0.909122 -1.82071e-008 0.41653
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+vn 0.932286 -1.58113e-008 0.361721
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+vn 0.942635 -1.45919e-008 0.333824
+vn 0.932286 -1.58113e-008 0.361721
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+vn 0.926801 -1.64159e-008 0.375552
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+vn 0.947499 -1.39771e-008 0.319759
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+vn 0.947499 -1.39771e-008 0.319759
+vn 0.956593 -1.27387e-008 0.291427
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+vn 0.956593 -1.27387e-008 0.291427
+vn -0.998338 2.51914e-009 -0.0576311
+vn -0.999611 1.21976e-009 -0.0279048
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+vn -0.998338 2.51914e-009 -0.0576311
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+vn -0.993142 5.11058e-009 -0.116916
+vn -0.99737 3.16827e-009 -0.0724816
+vn -0.994772 4.46399e-009 -0.102124
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+vn -0.993142 5.11058e-009 -0.116916
+vn -0.986937 7.0423e-009 -0.161109
+vn -0.993142 5.11058e-009 -0.116916
+vn -0.989224 6.39973e-009 -0.146409
+vn -0.994772 4.46399e-009 -0.102124
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
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+vn 3.09761e-016 1 4.37114e-008
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+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
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+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
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+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
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+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn -0.947499 1.39772e-008 -0.31976
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+vn -0.942636 1.45919e-008 -0.333824
+vn -0.956592 1.27388e-008 -0.291431
+vn -0.947499 1.39772e-008 -0.31976
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+vn -0.999915 5.69512e-010 -0.0130289
+vn -0.999998 -8.07132e-011 0.00184651
+vn -0.999611 1.21976e-009 -0.0279048
+vn -0.999998 -8.07132e-011 0.00184651
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+vn -0.999998 -8.07132e-011 0.00184651
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+# 276 elements written
+f 289//289 290//290 291//291 
+f 292//292 293//293 294//294 
+f 295//295 296//296 297//297 
+f 298//298 299//299 300//300 
+f 301//301 302//302 303//303 
+f 304//304 305//305 306//306 
+f 307//307 308//308 309//309 
+f 310//310 311//311 312//312 
+f 313//313 314//314 315//315 
+f 316//316 317//317 318//318 
+f 319//319 320//320 321//321 
+f 322//322 323//323 324//324 
+f 325//325 326//326 327//327 
+f 328//328 329//329 330//330 
+f 331//331 332//332 333//333 
+f 334//334 335//335 336//336 
+f 337//337 338//338 339//339 
+f 340//340 341//341 342//342 
+f 343//343 344//344 345//345 
+f 346//346 347//347 348//348 
+f 349//349 350//350 351//351 
+f 352//352 353//353 354//354 
+f 355//355 356//356 357//357 
+f 358//358 359//359 360//360 
+f 361//361 362//362 363//363 
+f 364//364 365//365 366//366 
+f 367//367 368//368 369//369 
+f 370//370 371//371 372//372 
+f 373//373 374//374 375//375 
+f 376//376 377//377 378//378 
+f 379//379 380//380 381//381 
+f 382//382 383//383 384//384 
+f 385//385 386//386 387//387 
+f 388//388 389//389 390//390 
+f 391//391 392//392 393//393 
+f 394//394 395//395 396//396 
+f 397//397 398//398 399//399 
+f 400//400 401//401 402//402 
+f 403//403 404//404 405//405 
+f 406//406 407//407 408//408 
+f 409//409 410//410 411//411 
+f 412//412 413//413 414//414 
+f 415//415 416//416 417//417 
+f 418//418 419//419 420//420 
+f 421//421 422//422 423//423 
+f 424//424 425//425 426//426 
+f 427//427 428//428 429//429 
+f 430//430 431//431 432//432 
+f 433//433 434//434 435//435 
+f 436//436 437//437 438//438 
+f 439//439 440//440 441//441 
+f 442//442 443//443 444//444 
+f 445//445 446//446 447//447 
+f 448//448 449//449 450//450 
+f 451//451 452//452 453//453 
+f 454//454 455//455 456//456 
+f 457//457 458//458 459//459 
+f 460//460 461//461 462//462 
+f 463//463 464//464 465//465 
+f 466//466 467//467 468//468 
+f 469//469 470//470 471//471 
+f 472//472 473//473 474//474 
+f 475//475 476//476 477//477 
+f 478//478 479//479 480//480 
+f 481//481 482//482 483//483 
+f 484//484 485//485 486//486 
+f 487//487 488//488 489//489 
+f 490//490 491//491 492//492 
+f 493//493 494//494 495//495 
+f 496//496 497//497 498//498 
+f 499//499 500//500 501//501 
+f 502//502 503//503 504//504 
+f 505//505 506//506 507//507 
+f 508//508 509//509 510//510 
+f 511//511 512//512 513//513 
+f 514//514 515//515 516//516 
+f 517//517 518//518 519//519 
+f 520//520 521//521 522//522 
+f 523//523 524//524 525//525 
+f 526//526 527//527 528//528 
+f 529//529 530//530 531//531 
+f 532//532 533//533 534//534 
+f 535//535 536//536 537//537 
+f 538//538 539//539 540//540 
+f 541//541 542//542 543//543 
+f 544//544 545//545 546//546 
+f 547//547 548//548 549//549 
+f 550//550 551//551 552//552 
+f 553//553 554//554 555//555 
+f 556//556 557//557 558//558 
+f 559//559 560//560 561//561 
+f 562//562 563//563 564//564 
+
+g rootd_Aa001_Bike_Old39_0
+
+o rootd_Aa001_Bike_Old39_p189_Geometry_0
+usemtl material_2
+
+v 0.284572 0.0144451 0.0541364
+v 0.288242 0.00722208 0.0335798
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+v 0.279999 0.00722207 0.095638
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+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
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+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+# 276 elements written
+f 565//565 566//566 567//567 
+f 568//568 569//569 570//570 
+f 571//571 572//572 573//573 
+f 574//574 575//575 576//576 
+f 577//577 578//578 579//579 
+f 580//580 581//581 582//582 
+f 583//583 584//584 585//585 
+f 586//586 587//587 588//588 
+f 589//589 590//590 591//591 
+f 592//592 593//593 594//594 
+f 595//595 596//596 597//597 
+f 598//598 599//599 600//600 
+f 601//601 602//602 603//603 
+f 604//604 605//605 606//606 
+f 607//607 608//608 609//609 
+f 610//610 611//611 612//612 
+f 613//613 614//614 615//615 
+f 616//616 617//617 618//618 
+f 619//619 620//620 621//621 
+f 622//622 623//623 624//624 
+f 625//625 626//626 627//627 
+f 628//628 629//629 630//630 
+f 631//631 632//632 633//633 
+f 634//634 635//635 636//636 
+f 637//637 638//638 639//639 
+f 640//640 641//641 642//642 
+f 643//643 644//644 645//645 
+f 646//646 647//647 648//648 
+f 649//649 650//650 651//651 
+f 652//652 653//653 654//654 
+f 655//655 656//656 657//657 
+f 658//658 659//659 660//660 
+f 661//661 662//662 663//663 
+f 664//664 665//665 666//666 
+f 667//667 668//668 669//669 
+f 670//670 671//671 672//672 
+f 673//673 674//674 675//675 
+f 676//676 677//677 678//678 
+f 679//679 680//680 681//681 
+f 682//682 683//683 684//684 
+f 685//685 686//686 687//687 
+f 688//688 689//689 690//690 
+f 691//691 692//692 693//693 
+f 694//694 695//695 696//696 
+f 697//697 698//698 699//699 
+f 700//700 701//701 702//702 
+f 703//703 704//704 705//705 
+f 706//706 707//707 708//708 
+f 709//709 710//710 711//711 
+f 712//712 713//713 714//714 
+f 715//715 716//716 717//717 
+f 718//718 719//719 720//720 
+f 721//721 722//722 723//723 
+f 724//724 725//725 726//726 
+f 727//727 728//728 729//729 
+f 730//730 731//731 732//732 
+f 733//733 734//734 735//735 
+f 736//736 737//737 738//738 
+f 739//739 740//740 741//741 
+f 742//742 743//743 744//744 
+f 745//745 746//746 747//747 
+f 748//748 749//749 750//750 
+f 751//751 752//752 753//753 
+f 754//754 755//755 756//756 
+f 757//757 758//758 759//759 
+f 760//760 761//761 762//762 
+f 763//763 764//764 765//765 
+f 766//766 767//767 768//768 
+f 769//769 770//770 771//771 
+f 772//772 773//773 774//774 
+f 775//775 776//776 777//777 
+f 778//778 779//779 780//780 
+f 781//781 782//782 783//783 
+f 784//784 785//785 786//786 
+f 787//787 788//788 789//789 
+f 790//790 791//791 792//792 
+f 793//793 794//794 795//795 
+f 796//796 797//797 798//798 
+f 799//799 800//800 801//801 
+f 802//802 803//803 804//804 
+f 805//805 806//806 807//807 
+f 808//808 809//809 810//810 
+f 811//811 812//812 813//813 
+f 814//814 815//815 816//816 
+f 817//817 818//818 819//819 
+f 820//820 821//821 822//822 
+f 823//823 824//824 825//825 
+f 826//826 827//827 828//828 
+f 829//829 830//830 831//831 
+f 832//832 833//833 834//834 
+f 835//835 836//836 837//837 
+f 838//838 839//839 840//840 
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r_zup.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r_zup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f5ca74eb33a9af58ed149cd743ceac0f43ec9
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Aa001_r_zup.obj
@@ -0,0 +1,972 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c731fbf73a570819c70e78fb5b162969f50446e
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.mtl
@@ -0,0 +1,5 @@
+newmtl material_3
+       Ka 0 0 0 1
+       Kd 1 1 1 1
+       Ks 0.752941 0.752941 0.752941 1
+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93841ac9ec05f55cc73b08408e6a6fe833d7a838
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r.obj
@@ -0,0 +1,731 @@
+# file written by OpenSceneGraph
+
+mtllib dof_rootd_Ba001_r.mtl
+
+
+g rootd_Ba001_0
+
+g rootd_Ba001_Bike_Old15_0
+
+o rootd_Ba001_Bike_Old15_p489_Geometry_0
+usemtl material_3
+
+v -0.0093666 0.0070259 0.0151332
+v -0.0093666 0.00702591 -0.085989
+v -0.000981682 0.0126154 -0.085989
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+v -0.000981686 0.0126154 0.0151332
+v -0.0093666 0.0070259 0.0151332
+v -0.00135368 -0.00499419 -0.085989
+v 0.00703107 0.000595407 -0.085989
+v -0.000981682 0.0126154 -0.085989
+v -0.000981682 0.0126154 -0.085989
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+v -0.0093666 0.0070259 0.0151332
+v -0.000981686 0.0126154 0.0151332
+v 0.00703106 0.000595403 0.0151332
+v 0.00703107 0.000595407 -0.085989
+v -0.00135368 -0.00499419 -0.085989
+v -0.00135368 -0.00499419 -0.085989
+v -0.00135369 -0.00499419 0.0151332
+v 0.00703106 0.000595403 0.0151332
+v 0.00703106 0.000595403 0.0151332
+v -0.000981686 0.0126154 0.0151332
+v -0.000981682 0.0126154 -0.085989
+v -0.000981682 0.0126154 -0.085989
+v 0.00703107 0.000595407 -0.085989
+v 0.00703106 0.000595403 0.0151332
+v -0.00135368 -0.00499419 -0.085989
+v -0.0093666 0.00702591 -0.085989
+v -0.0093666 0.0070259 0.0151332
+v -0.0093666 0.0070259 0.0151332
+v -0.00135369 -0.00499419 0.0151332
+v -0.00135368 -0.00499419 -0.085989
+# 36 elements written
+
+vn 0.554666 -0.832073 -1.21258e-008
+vn 0.554666 -0.832073 -1.21258e-008
+vn 0.554666 -0.832073 -1.21258e-008
+vn 0.554666 -0.832073 -1.21258e-008
+vn 0.554666 -0.832073 -1.21258e-008
+vn 0.554666 -0.832073 -1.21258e-008
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn -0.554684 0.832061 1.21245e-008
+vn -0.554684 0.832061 1.21245e-008
+vn -0.554684 0.832061 1.21245e-008
+vn -0.554684 0.832061 1.21245e-008
+vn -0.554684 0.832061 1.21245e-008
+vn -0.554684 0.832061 1.21245e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn -0.832068 -0.554674 -6.06164e-008
+vn 0.832066 0.554677 6.06165e-008
+vn 0.832066 0.554677 6.06165e-008
+vn 0.832066 0.554677 6.06165e-008
+vn 0.832066 0.554677 6.06165e-008
+vn 0.832066 0.554677 6.06165e-008
+vn 0.832066 0.554677 6.06165e-008
+# 36 elements written
+f 1//1 2//2 3//3 
+f 4//4 5//5 6//6 
+f 7//7 8//8 9//9 
+f 10//10 11//11 12//12 
+f 13//13 14//14 15//15 
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+f 22//22 23//23 24//24 
+f 25//25 26//26 27//27 
+f 28//28 29//29 30//30 
+f 31//31 32//32 33//33 
+f 34//34 35//35 36//36 
+
+g rootd_Ba001_Bike_Old33_0
+
+o rootd_Ba001_Bike_Old33_p501_Geometry_0
+usemtl material_3
+
+v -0.0133998 0.0450763 0.0133274
+v 0.0154922 0.00173823 0.0133274
+v 0.0154922 0.0450763 0.0133274
+v 0.0154922 0.00173823 0.0133274
+v -0.0133998 0.0450763 0.0133274
+v -0.0133998 0.00173823 0.0133274
+# 6 elements written
+
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+# 6 elements written
+f 37//37 38//38 39//39 
+f 40//40 41//41 42//42 
+
+g rootd_Ba001_Bike_Old34_0
+
+o rootd_Ba001_Bike_Old34_p503_Geometry_0
+usemtl material_3
+
+v 0.0154922 0.00173823 0.0133274
+v 0.0154922 0.0450763 0.00249289
+v 0.0154922 0.0450763 0.0133274
+v 0.0154922 0.0450763 0.00249289
+v 0.0154922 0.00173823 0.0133274
+v 0.0154922 0.00173823 0.00249289
+v -0.0133998 0.0450763 0.0133274
+v 0.0154922 0.0450763 0.00249289
+v -0.0133998 0.0450763 0.00249289
+v 0.0154922 0.0450763 0.00249289
+v -0.0133998 0.0450763 0.0133274
+v 0.0154922 0.0450763 0.0133274
+v -0.0133998 0.00173823 0.00249289
+v -0.0133998 0.0450763 0.0133274
+v -0.0133998 0.0450763 0.00249289
+v -0.0133998 0.0450763 0.0133274
+v -0.0133998 0.00173823 0.00249289
+v -0.0133998 0.00173823 0.0133274
+# 18 elements written
+
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+# 18 elements written
+f 43//43 44//44 45//45 
+f 46//46 47//47 48//48 
+f 49//49 50//50 51//51 
+f 52//52 53//53 54//54 
+f 55//55 56//56 57//57 
+f 58//58 59//59 60//60 
+
+g rootd_Ba001_Bike_Old35_0
+
+o rootd_Ba001_Bike_Old35_p509_Geometry_0
+usemtl material_3
+
+v -0.0350688 -0.0560458 -0.174471
+v -0.00617677 -0.0127078 -0.174471
+v -0.00617677 -0.0560458 -0.174471
+v -0.00617677 -0.0127078 -0.174471
+v -0.0350688 -0.0560458 -0.174471
+v -0.0350688 -0.0127078 -0.174471
+# 6 elements written
+
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+# 6 elements written
+f 61//61 62//62 63//63 
+f 64//64 65//65 66//66 
+
+g rootd_Ba001_Bike_Old36_0
+
+o rootd_Ba001_Bike_Old36_p511_Geometry_0
+usemtl material_3
+
+v -0.00617677 -0.0127078 -0.174471
+v -0.00617677 -0.0560458 -0.185305
+v -0.00617677 -0.0560458 -0.174471
+v -0.00617677 -0.0560458 -0.185305
+v -0.00617677 -0.0127078 -0.174471
+v -0.00617677 -0.0127078 -0.185305
+v -0.0350688 -0.0560458 -0.174471
+v -0.00617677 -0.0560458 -0.185305
+v -0.0350688 -0.0560458 -0.185305
+v -0.00617677 -0.0560458 -0.185305
+v -0.0350688 -0.0560458 -0.174471
+v -0.00617677 -0.0560458 -0.174471
+v -0.0350688 -0.0127078 -0.185305
+v -0.0350688 -0.0560458 -0.174471
+v -0.0350688 -0.0560458 -0.185305
+v -0.0350688 -0.0560458 -0.174471
+v -0.0350688 -0.0127078 -0.185305
+v -0.0350688 -0.0127078 -0.174471
+# 18 elements written
+
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+# 18 elements written
+f 67//67 68//68 69//69 
+f 70//70 71//71 72//72 
+f 73//73 74//74 75//75 
+f 76//76 77//77 78//78 
+f 79//79 80//80 81//81 
+f 82//82 83//83 84//84 
+
+g rootd_Ba001_Bike_Old19_0
+
+o rootd_Ba001_Bike_Old19_p517_Geometry_0
+usemtl material_3
+
+v -0.0125336 -0.0147759 -0.085989
+v -0.00414869 -0.00918642 -0.085989
+v -0.0121616 0.00283367 -0.085989
+v -0.0121616 0.00283367 -0.085989
+v -0.0205464 -0.00275592 -0.085989
+v -0.0125336 -0.0147759 -0.085989
+v -0.0121616 0.00283368 -0.184222
+v -0.00414869 -0.00918642 -0.184222
+v -0.0125336 -0.0147759 -0.184222
+v -0.0125336 -0.0147759 -0.184222
+v -0.0205463 -0.00275592 -0.184222
+v -0.0121616 0.00283368 -0.184222
+v -0.0205464 -0.00275592 -0.085989
+v -0.0205463 -0.00275592 -0.184222
+v -0.0121616 0.00283368 -0.184222
+v -0.0121616 0.00283368 -0.184222
+v -0.0121616 0.00283367 -0.085989
+v -0.0205464 -0.00275592 -0.085989
+v -0.00414869 -0.00918642 -0.085989
+v -0.00414869 -0.00918642 -0.184222
+v -0.0125336 -0.0147759 -0.184222
+v -0.0125336 -0.0147759 -0.184222
+v -0.0125336 -0.0147759 -0.085989
+v -0.00414869 -0.00918642 -0.085989
+v -0.00414869 -0.00918642 -0.085989
+v -0.0121616 0.00283367 -0.085989
+v -0.0121616 0.00283368 -0.184222
+v -0.0121616 0.00283368 -0.184222
+v -0.00414869 -0.00918642 -0.184222
+v -0.00414869 -0.00918642 -0.085989
+v -0.0125336 -0.0147759 -0.184222
+v -0.0205463 -0.00275592 -0.184222
+v -0.0205464 -0.00275592 -0.085989
+v -0.0205464 -0.00275592 -0.085989
+v -0.0125336 -0.0147759 -0.085989
+v -0.0125336 -0.0147759 -0.184222
+# 36 elements written
+
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 0.554684 -0.832061 -1.21245e-008
+vn 0.554684 -0.832061 -1.21245e-008
+vn 0.554684 -0.832061 -1.21245e-008
+vn 0.554684 -0.832061 -1.21245e-008
+vn 0.554684 -0.832061 -1.21245e-008
+vn 0.554684 -0.832061 -1.21245e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.554668 0.832072 1.21257e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn -0.832066 -0.554677 -6.06165e-008
+vn 0.832067 0.554675 6.06164e-008
+vn 0.832067 0.554675 6.06164e-008
+vn 0.832067 0.554675 6.06164e-008
+vn 0.832067 0.554675 6.06164e-008
+vn 0.832067 0.554675 6.06164e-008
+vn 0.832067 0.554675 6.06164e-008
+# 36 elements written
+f 85//85 86//86 87//87 
+f 88//88 89//89 90//90 
+f 91//91 92//92 93//93 
+f 94//94 95//95 96//96 
+f 97//97 98//98 99//99 
+f 100//100 101//101 102//102 
+f 103//103 104//104 105//105 
+f 106//106 107//107 108//108 
+f 109//109 110//110 111//111 
+f 112//112 113//113 114//114 
+f 115//115 116//116 117//117 
+f 118//118 119//119 120//120 
+
+g rootd_Ba001_Bike_Old6_0
+
+o rootd_Ba001_Bike_Old6_p529_Geometry_0
+usemtl material_3
+
+v -0.00454147 -0.00753784 -0.0847722
+v -0.00897379 0.00690817 -0.079069
+v -0.00454147 0.00690817 -0.0847722
+v -0.00897379 0.00690817 -0.079069
+v -0.00454147 -0.00753784 -0.0847722
+v -0.00897379 -0.00753784 -0.079069
+# 6 elements written
+
+vn -0.789584 2.68232e-008 -0.613643
+vn -0.789584 2.68232e-008 -0.613643
+vn -0.789584 2.68232e-008 -0.613643
+vn -0.789584 2.68232e-008 -0.613643
+vn -0.789584 2.68232e-008 -0.613643
+vn -0.789584 2.68232e-008 -0.613643
+# 6 elements written
+f 121//121 122//122 123//123 
+f 124//124 125//125 126//126 
+
+g rootd_Ba001_Bike_Old16_0
+
+o rootd_Ba001_Bike_Old16_p531_Geometry_0
+usemtl material_3
+
+v -0.00454147 -0.00753784 -0.0847722
+v -0.00454147 0.00690817 -0.0847722
+v -0.00897379 0.00690817 -0.079069
+v -0.00897379 0.00690817 -0.079069
+v -0.00897379 -0.00753784 -0.079069
+v -0.00454147 -0.00753784 -0.0847722
+# 6 elements written
+
+vn 0.789584 -2.68232e-008 0.613643
+vn 0.789584 -2.68232e-008 0.613643
+vn 0.789584 -2.68232e-008 0.613643
+vn 0.789584 -2.68232e-008 0.613643
+vn 0.789584 -2.68232e-008 0.613643
+vn 0.789584 -2.68232e-008 0.613643
+# 6 elements written
+f 127//127 128//128 129//129 
+f 130//130 131//131 132//132 
+
+g rootd_Ba001_Bike_Old14_0
+
+o rootd_Ba001_Bike_Old14_p533_Geometry_0
+usemtl material_3
+
+v 0.0328172 -0.00157063 -0.0758833
+v 0.0328172 0.00131857 -0.0758833
+v 0.034164 0.00131857 -0.0861128
+v 0.034164 0.00131857 -0.0861128
+v 0.034164 -0.00157063 -0.0861128
+v 0.0328172 -0.00157063 -0.0758833
+v 0.0288688 -0.00157063 -0.0663508
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+v 0.0328172 0.00131857 -0.0758833
+v 0.0328172 0.00131857 -0.0758833
+v 0.0328172 -0.00157063 -0.0758833
+v 0.0288688 -0.00157063 -0.0663508
+v 0.0225877 -0.00157063 -0.0581651
+v 0.0225877 0.00131857 -0.0581651
+v 0.0288688 0.00131857 -0.0663508
+v 0.0288688 0.00131857 -0.0663508
+v 0.0288688 -0.00157063 -0.0663508
+v 0.0225877 -0.00157063 -0.0581651
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+v 0.0225877 0.00131857 -0.0581651
+v 0.0225877 -0.00157063 -0.0581651
+v 0.0225877 -0.00157063 -0.0581651
+v 0.0144019 -0.00157063 -0.0518839
+v 0.0144019 0.00131857 -0.0518839
+v -0.033308 -0.00157063 -0.114061
+v -0.0251223 -0.00157063 -0.120342
+v -0.0251223 0.00131858 -0.120342
+v -0.0251223 0.00131858 -0.120342
+v -0.033308 0.00131858 -0.114061
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+v -0.0251223 -0.00157063 -0.120342
+v -0.0155898 -0.00157063 -0.12429
+v -0.0155898 0.00131858 -0.12429
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+v -0.0251223 -0.00157063 -0.120342
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+v 0.0144019 0.00131858 -0.120342
+v 0.0144019 0.00131858 -0.120342
+v 0.00486952 0.00131858 -0.12429
+v 0.00486952 -0.00157063 -0.12429
+v 0.0144019 -0.00157063 -0.120342
+v 0.0225877 -0.00157063 -0.114061
+v 0.0225877 0.00131858 -0.114061
+v 0.0225877 0.00131858 -0.114061
+v 0.0144019 0.00131858 -0.120342
+v 0.0144019 -0.00157063 -0.120342
+v 0.0288688 -0.00157063 -0.105875
+v 0.0288688 0.00131858 -0.105875
+v 0.0225877 0.00131858 -0.114061
+v 0.0225877 0.00131858 -0.114061
+v 0.0225877 -0.00157063 -0.114061
+v 0.0288688 -0.00157063 -0.105875
+v 0.0328172 -0.00157063 -0.0963424
+v 0.0328172 0.00131857 -0.0963424
+v 0.0288688 0.00131858 -0.105875
+v 0.0288688 0.00131858 -0.105875
+v 0.0288688 -0.00157063 -0.105875
+v 0.0328172 -0.00157063 -0.0963424
+v 0.034164 0.00131857 -0.0861128
+v 0.0328172 0.00131857 -0.0963424
+v 0.0328172 -0.00157063 -0.0963424
+v 0.0328172 -0.00157063 -0.0963424
+v 0.034164 -0.00157063 -0.0861128
+v 0.034164 0.00131857 -0.0861128
+v -0.0251223 0.00131857 -0.0518839
+v -0.0155898 0.00131857 -0.0479354
+v -0.0155898 -0.00157063 -0.0479354
+v -0.0155898 -0.00157063 -0.0479354
+v -0.0251223 -0.00157063 -0.0518839
+v -0.0251223 0.00131857 -0.0518839
+v -0.033308 0.00131857 -0.0581651
+v -0.0251223 0.00131857 -0.0518839
+v -0.0251223 -0.00157063 -0.0518839
+v -0.0251223 -0.00157063 -0.0518839
+v -0.033308 -0.00157063 -0.0581651
+v -0.033308 0.00131857 -0.0581651
+v -0.0395891 -0.00157063 -0.0663508
+v -0.0395891 0.00131857 -0.0663508
+v -0.033308 0.00131857 -0.0581651
+v -0.033308 0.00131857 -0.0581651
+v -0.033308 -0.00157063 -0.0581651
+v -0.0395891 -0.00157063 -0.0663508
+v -0.0435376 -0.00157063 -0.0963424
+v -0.0435376 0.00131857 -0.0963424
+v -0.0448843 0.00131857 -0.0861128
+v -0.0448843 0.00131857 -0.0861128
+v -0.0448843 -0.00157063 -0.0861128
+v -0.0435376 -0.00157063 -0.0963424
+v -0.0395891 -0.00157063 -0.105875
+v -0.0395891 0.00131858 -0.105875
+v -0.0435376 0.00131857 -0.0963424
+v -0.0435376 0.00131857 -0.0963424
+v -0.0435376 -0.00157063 -0.0963424
+v -0.0395891 -0.00157063 -0.105875
+v -0.033308 -0.00157063 -0.114061
+v -0.033308 0.00131858 -0.114061
+v -0.0395891 0.00131858 -0.105875
+v -0.0395891 0.00131858 -0.105875
+v -0.0395891 -0.00157063 -0.105875
+v -0.033308 -0.00157063 -0.114061
+v 0.00486951 0.00131857 -0.0479354
+v 0.0144019 0.00131857 -0.0518839
+v 0.0144019 -0.00157063 -0.0518839
+v 0.0144019 -0.00157063 -0.0518839
+v 0.00486951 -0.00157063 -0.0479354
+v 0.00486951 0.00131857 -0.0479354
+v -0.00536014 0.00131857 -0.0465886
+v 0.00486951 0.00131857 -0.0479354
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+v -0.00536014 -0.00157063 -0.0465886
+v -0.00536014 0.00131857 -0.0465886
+v -0.0155898 0.00131857 -0.0479354
+v -0.00536014 0.00131857 -0.0465886
+v -0.00536014 -0.00157063 -0.0465886
+v -0.00536014 -0.00157063 -0.0465886
+v -0.0155898 -0.00157063 -0.0479354
+v -0.0155898 0.00131857 -0.0479354
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+v -0.0435376 0.00131857 -0.0758833
+v -0.0395891 0.00131857 -0.0663508
+v -0.0395891 0.00131857 -0.0663508
+v -0.0395891 -0.00157063 -0.0663508
+v -0.0435376 -0.00157063 -0.0758833
+v -0.0448843 -0.00157063 -0.0861128
+v -0.0448843 0.00131857 -0.0861128
+v -0.0435376 0.00131857 -0.0758833
+v -0.0435376 0.00131857 -0.0758833
+v -0.0435376 -0.00157063 -0.0758833
+v -0.0448843 -0.00157063 -0.0861128
+v -0.0155898 -0.00157063 -0.12429
+v -0.00536014 -0.00157063 -0.125637
+v -0.00536014 0.00131858 -0.125637
+v -0.00536014 0.00131858 -0.125637
+v -0.0155898 0.00131858 -0.12429
+v -0.0155898 -0.00157063 -0.12429
+v -0.00536014 -0.00157063 -0.125637
+v 0.00486952 -0.00157063 -0.12429
+v 0.00486952 0.00131858 -0.12429
+v 0.00486952 0.00131858 -0.12429
+v -0.00536014 0.00131858 -0.125637
+v -0.00536014 -0.00157063 -0.125637
+# 144 elements written
+
+vn -0.976344 9.4514e-009 -0.216223
+vn -0.953651 1.31534e-008 -0.300915
+vn -1 4.42344e-014 -1.00562e-006
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+vn -0.887116 2.01748e-008 -0.461547
+vn -0.843273 2.34943e-008 -0.537486
+vn -0.953651 1.31534e-008 -0.300915
+vn -0.953651 1.31534e-008 -0.300915
+vn -0.976344 9.4514e-009 -0.216223
+vn -0.887116 2.01748e-008 -0.461547
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.843273 2.34943e-008 -0.537486
+vn -0.843273 2.34943e-008 -0.537486
+vn -0.887116 2.01748e-008 -0.461547
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.537486 3.68606e-008 -0.843273
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.707104 3.09087e-008 -0.70711
+vn -0.461554 3.87769e-008 -0.887112
+vn -0.537486 3.68606e-008 -0.843273
+vn 0.707107 -3.09086e-008 0.707107
+vn 0.461554 -3.87769e-008 0.887112
+vn 0.53749 -3.68605e-008 0.84327
+vn 0.53749 -3.68605e-008 0.84327
+vn 0.707107 -3.09086e-008 0.707107
+vn 0.707107 -3.09086e-008 0.707107
+vn 0.461554 -3.87769e-008 0.887112
+vn 0.216226 -4.26773e-008 0.976343
+vn 0.300922 -4.16853e-008 0.953649
+vn 0.300922 -4.16853e-008 0.953649
+vn 0.53749 -3.68605e-008 0.84327
+vn 0.461554 -3.87769e-008 0.887112
+vn -0.300925 -4.16853e-008 0.953648
+vn -0.537486 -3.68606e-008 0.843273
+vn -0.461554 -3.87769e-008 0.887112
+vn -0.461554 -3.87769e-008 0.887112
+vn -0.216228 -4.26773e-008 0.976343
+vn -0.300925 -4.16853e-008 0.953648
+vn -0.537486 -3.68606e-008 0.843273
+vn -0.707104 -3.09087e-008 0.70711
+vn -0.707104 -3.09087e-008 0.70711
+vn -0.707104 -3.09087e-008 0.70711
+vn -0.461554 -3.87769e-008 0.887112
+vn -0.537486 -3.68606e-008 0.843273
+vn -0.843273 -2.34943e-008 0.537486
+vn -0.887116 -2.01748e-008 0.461547
+vn -0.707104 -3.09087e-008 0.70711
+vn -0.707104 -3.09087e-008 0.70711
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+vn 0.976345 9.45124e-009 -0.216219
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+vn -0.0438435 -4.36694e-008 0.999038
+vn 0.0438434 -4.36694e-008 0.999038
+vn 0.0438434 -4.36694e-008 0.999038
+vn 0.300922 -4.16853e-008 0.953649
+vn 0.216226 -4.26773e-008 0.976343
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+vn 0.0438434 -4.36694e-008 0.999038
+vn -0.0438435 -4.36694e-008 0.999038
+# 144 elements written
+f 133//133 134//134 135//135 
+f 136//136 137//137 138//138 
+f 139//139 140//140 141//141 
+f 142//142 143//143 144//144 
+f 145//145 146//146 147//147 
+f 148//148 149//149 150//150 
+f 151//151 152//152 153//153 
+f 154//154 155//155 156//156 
+f 157//157 158//158 159//159 
+f 160//160 161//161 162//162 
+f 163//163 164//164 165//165 
+f 166//166 167//167 168//168 
+f 169//169 170//170 171//171 
+f 172//172 173//173 174//174 
+f 175//175 176//176 177//177 
+f 178//178 179//179 180//180 
+f 181//181 182//182 183//183 
+f 184//184 185//185 186//186 
+f 187//187 188//188 189//189 
+f 190//190 191//191 192//192 
+f 193//193 194//194 195//195 
+f 196//196 197//197 198//198 
+f 199//199 200//200 201//201 
+f 202//202 203//203 204//204 
+f 205//205 206//206 207//207 
+f 208//208 209//209 210//210 
+f 211//211 212//212 213//213 
+f 214//214 215//215 216//216 
+f 217//217 218//218 219//219 
+f 220//220 221//221 222//222 
+f 223//223 224//224 225//225 
+f 226//226 227//227 228//228 
+f 229//229 230//230 231//231 
+f 232//232 233//233 234//234 
+f 235//235 236//236 237//237 
+f 238//238 239//239 240//240 
+f 241//241 242//242 243//243 
+f 244//244 245//245 246//246 
+f 247//247 248//248 249//249 
+f 250//250 251//251 252//252 
+f 253//253 254//254 255//255 
+f 256//256 257//257 258//258 
+f 259//259 260//260 261//261 
+f 262//262 263//263 264//264 
+f 265//265 266//266 267//267 
+f 268//268 269//269 270//270 
+f 271//271 272//272 273//273 
+f 274//274 275//275 276//276 
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r_zup.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r_zup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c24847a05a6c6bac8b378a8540287c12b25bcf2
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ba001_r_zup.obj
@@ -0,0 +1,368 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
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diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49a874c2f2bbe28a137529c874b889905e654c38
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.mtl
@@ -0,0 +1,5 @@
+newmtl material_4
+       Ka 0 0 0 1
+       Kd 1 1 1 1
+       Ks 0.752941 0.752941 0.752941 1
+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa6d794cdb0a3856ebab97da488e33ddc16db740
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r.obj
@@ -0,0 +1,2142 @@
+# file written by OpenSceneGraph
+
+mtllib dof_rootd_Ca002_r.mtl
+
+
+g rootd_Ca002_0
+
+g rootd_Ca002_Bike_Old23_0
+
+o rootd_Ca002_Bike_Old23_p581_Geometry_0
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+# 144 elements written
+f 1//1 2//2 3//3 
+f 4//4 5//5 6//6 
+f 7//7 8//8 9//9 
+f 10//10 11//11 12//12 
+f 13//13 14//14 15//15 
+f 16//16 17//17 18//18 
+f 19//19 20//20 21//21 
+f 22//22 23//23 24//24 
+f 25//25 26//26 27//27 
+f 28//28 29//29 30//30 
+f 31//31 32//32 33//33 
+f 34//34 35//35 36//36 
+f 37//37 38//38 39//39 
+f 40//40 41//41 42//42 
+f 43//43 44//44 45//45 
+f 46//46 47//47 48//48 
+f 49//49 50//50 51//51 
+f 52//52 53//53 54//54 
+f 55//55 56//56 57//57 
+f 58//58 59//59 60//60 
+f 61//61 62//62 63//63 
+f 64//64 65//65 66//66 
+f 67//67 68//68 69//69 
+f 70//70 71//71 72//72 
+f 73//73 74//74 75//75 
+f 76//76 77//77 78//78 
+f 79//79 80//80 81//81 
+f 82//82 83//83 84//84 
+f 85//85 86//86 87//87 
+f 88//88 89//89 90//90 
+f 91//91 92//92 93//93 
+f 94//94 95//95 96//96 
+f 97//97 98//98 99//99 
+f 100//100 101//101 102//102 
+f 103//103 104//104 105//105 
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+f 130//130 131//131 132//132 
+f 133//133 134//134 135//135 
+f 136//136 137//137 138//138 
+f 139//139 140//140 141//141 
+f 142//142 143//143 144//144 
+
+g rootd_Ca002_Bike_Old25_0
+
+o rootd_Ca002_Bike_Old25_p629_Geometry_0
+usemtl material_4
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+# 144 elements written
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+f 235//235 236//236 237//237 
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+f 262//262 263//263 264//264 
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+f 277//277 278//278 279//279 
+f 280//280 281//281 282//282 
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+f 286//286 287//287 288//288 
+
+g rootd_Ca002_Bike_Old31_0
+
+o rootd_Ca002_Bike_Old31_p677_Geometry_0
+usemtl material_4
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+# 528 elements written
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+f 292//292 293//293 294//294 
+f 295//295 296//296 297//297 
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+f 310//310 311//311 312//312 
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+f 331//331 332//332 333//333 
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+f 337//337 338//338 339//339 
+f 340//340 341//341 342//342 
+f 343//343 344//344 345//345 
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+f 349//349 350//350 351//351 
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+f 364//364 365//365 366//366 
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+f 394//394 395//395 396//396 
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+f 415//415 416//416 417//417 
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+f 808//808 809//809 810//810 
+f 811//811 812//812 813//813 
+f 814//814 815//815 816//816 
+
+g rootd_Ca002_Bike_Old32_0
+
+o rootd_Ca002_Bike_Old32_p853_Geometry_0
+usemtl material_4
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+v -0.481931 0.00183993 -0.122486
+v -0.481931 -0.00177157 -0.122486
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+vn -0.207912 -4.27562e-008 0.978148
+# 84 elements written
+f 817//817 818//818 819//819 
+f 820//820 821//821 822//822 
+f 823//823 824//824 825//825 
+f 826//826 827//827 828//828 
+f 829//829 830//830 831//831 
+f 832//832 833//833 834//834 
+f 835//835 836//836 837//837 
+f 838//838 839//839 840//840 
+f 841//841 842//842 843//843 
+f 844//844 845//845 846//846 
+f 847//847 848//848 849//849 
+f 850//850 851//851 852//852 
+f 853//853 854//854 855//855 
+f 856//856 857//857 858//858 
+f 859//859 860//860 861//861 
+f 862//862 863//863 864//864 
+f 865//865 866//866 867//867 
+f 868//868 869//869 870//870 
+f 871//871 872//872 873//873 
+f 874//874 875//875 876//876 
+f 877//877 878//878 879//879 
+f 880//880 881//881 882//882 
+f 883//883 884//884 885//885 
+f 886//886 887//887 888//888 
+f 889//889 890//890 891//891 
+f 892//892 893//893 894//894 
+f 895//895 896//896 897//897 
+f 898//898 899//899 900//900 
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r_zup.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r_zup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b599ab7c99072243a3ea262471ef1a0c3f4a7419
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/dof_rootd_Ca002_r_zup.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/material.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5c70e2c7bde51d31113950decacee81ecff4bd60
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/material.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 1.00000000 1.00000000 1.00000000
+Ks 0.75294118 0.75294118 0.75294118
+Ns 1.00000000
\ No newline at end of file
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.mtl b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5df6fd71443f9335ffbb80d948792baac14c26a3
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.mtl
@@ -0,0 +1,5 @@
+newmtl material_1
+       Ka 0 0 0 1
+       Kd 1 1 1 1
+       Ks 0.752941 0.752941 0.752941 1
+
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07273db748594f5b65b1f1fd6428bc04842a2a72
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion.obj
@@ -0,0 +1,1327 @@
+# file written by OpenSceneGraph
+
+mtllib none_motion.mtl
+
+
+g rootd_$$001_0
+
+g rootd_$$001_Bike_Old28_0
+
+o rootd_$$001_Bike_Old28_p881_Geometry_0
+usemtl material_1
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+v -0.322754 -0.00287351 -0.0751955
+v -0.327258 -0.00287351 -0.0758073
+v -0.327258 -0.00431812 -0.0758073
+v -0.322754 -0.00431812 -0.0751955
+v -0.318381 -0.00431812 -0.075967
+v -0.318381 -0.00287351 -0.075967
+v -0.318381 -0.00287351 -0.075967
+v -0.322754 -0.00287351 -0.0751955
+v -0.322754 -0.00431812 -0.0751955
+v -0.00395785 -0.00287351 -0.125602
+v 0.0077794 -0.00287351 -0.12452
+v 0.0077794 -0.00431811 -0.12452
+v 0.0077794 -0.00431811 -0.12452
+v -0.00395785 -0.00431811 -0.125602
+v -0.00395785 -0.00287351 -0.125602
+# 144 elements written
+
+vn -0.949561 1.37071e-008 -0.313582
+vn -0.97697 9.32694e-009 -0.213376
+vn -0.865513 2.18944e-008 -0.500886
+vn -0.865513 2.18944e-008 -0.500886
+vn -0.808873 2.57016e-008 -0.587984
+vn -0.949561 1.37071e-008 -0.313582
+vn -0.999956 4.09242e-010 -0.00936235
+vn -0.99553 -4.12832e-009 0.0944448
+vn -0.97697 9.32694e-009 -0.213376
+vn -0.97697 9.32694e-009 -0.213376
+vn -0.949561 1.37071e-008 -0.313582
+vn -0.999956 4.09242e-010 -0.00936235
+vn -0.955262 -1.29281e-008 0.29576
+vn -0.919424 -1.71903e-008 0.393269
+vn -0.99553 -4.12832e-009 0.0944448
+vn -0.99553 -4.12832e-009 0.0944448
+vn -0.999956 4.09242e-010 -0.00936235
+vn -0.955262 -1.29281e-008 0.29576
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.919424 -1.71903e-008 0.393269
+vn -0.919424 -1.71903e-008 0.393269
+vn -0.955262 -1.29281e-008 0.29576
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.520497 -3.73235e-008 0.853863
+vn -0.60628 -3.47615e-008 0.795252
+vn -0.60628 -3.47615e-008 0.795252
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.788888 -2.68623e-008 0.614538
+vn -0.520497 -3.73235e-008 0.853863
+vn -0.235591 -4.2481e-008 0.971852
+vn -0.335153 -4.11833e-008 0.942164
+vn -0.335153 -4.11833e-008 0.942164
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+vn -0.520497 -3.73235e-008 0.853863
+vn 0.00635451 -4.37105e-008 0.99998
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+vn 0.155026 -4.31829e-008 0.98791
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+vn -0.0436066 -4.36698e-008 0.999049
+vn 0.00635451 -4.37105e-008 0.99998
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+vn 0.52732 -3.71401e-008 0.849667
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+vn 0.155026 -4.31829e-008 0.98791
+vn 0.253312 -4.22857e-008 0.967385
+vn -0.00434148 -4.3711e-008 0.999991
+vn 0.00635451 -4.37105e-008 0.99998
+vn -0.0436066 -4.36698e-008 0.999049
+vn -0.0436066 -4.36698e-008 0.999049
+vn 0.0854019 -4.35517e-008 0.996347
+vn -0.00434148 -4.3711e-008 0.999991
+vn 0.52732 -3.71401e-008 0.849667
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.439459 -3.92643e-008 0.898262
+vn 0.52732 -3.71401e-008 0.849667
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+vn 0.914449 -1.769e-008 0.404701
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.720531 -3.03105e-008 0.693423
+vn 0.869256 -2.16093e-008 0.494362
+vn -0.116699 4.34127e-008 -0.993167
+vn 0.0395123 4.36773e-008 -0.999219
+vn -0.0130128 4.37077e-008 -0.999915
+vn -0.0130128 4.37077e-008 -0.999915
+vn -0.167866 4.30911e-008 -0.98581
+vn -0.116699 4.34127e-008 -0.993167
+vn -0.317458 4.14503e-008 -0.948272
+vn -0.116699 4.34127e-008 -0.993167
+vn -0.167866 4.30911e-008 -0.98581
+vn -0.167866 4.30911e-008 -0.98581
+vn -0.414121 3.97871e-008 -0.910222
+vn -0.317458 4.14503e-008 -0.948272
+vn -0.808873 2.57016e-008 -0.587984
+vn -0.865513 2.18944e-008 -0.500886
+vn -0.632362 3.3862e-008 -0.774673
+vn -0.632362 3.3862e-008 -0.774673
+vn -0.632362 3.3862e-008 -0.774673
+vn -0.808873 2.57016e-008 -0.587984
+vn -0.632362 3.3862e-008 -0.774673
+vn -0.317458 4.14503e-008 -0.948272
+vn -0.414121 3.97871e-008 -0.910222
+vn -0.414121 3.97871e-008 -0.910222
+vn -0.632362 3.3862e-008 -0.774673
+vn -0.632362 3.3862e-008 -0.774673
+vn 0.928316 1.62516e-008 -0.371793
+vn 0.886353 2.02388e-008 -0.463011
+vn 0.983476 7.91344e-009 -0.181038
+vn 0.983476 7.91344e-009 -0.181038
+vn 0.996673 3.56257e-009 -0.0815021
+vn 0.928316 1.62516e-008 -0.371793
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.886353 2.02388e-008 -0.463011
+vn 0.886353 2.02388e-008 -0.463011
+vn 0.928316 1.62516e-008 -0.371793
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.996673 3.56257e-009 -0.0815021
+vn 0.983476 7.91344e-009 -0.181038
+vn 0.993128 -5.1158e-009 0.117036
+vn 0.993128 -5.1158e-009 0.117036
+vn 0.976385 -9.4433e-009 0.216037
+vn 0.996673 3.56257e-009 -0.0815021
+vn 0.557327 3.62933e-008 -0.830293
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.744835 2.91664e-008 -0.667249
+vn 0.471253 3.85534e-008 -0.881998
+vn 0.557327 3.62933e-008 -0.830293
+vn 0.287687 4.18635e-008 -0.957725
+vn 0.557327 3.62933e-008 -0.830293
+vn 0.471253 3.85534e-008 -0.881998
+vn 0.471253 3.85534e-008 -0.881998
+vn 0.190196 4.29135e-008 -0.981746
+vn 0.287687 4.18635e-008 -0.957725
+vn 0.976385 -9.4433e-009 0.216037
+vn 0.993128 -5.1158e-009 0.117036
+vn 0.914449 -1.769e-008 0.404701
+vn 0.914449 -1.769e-008 0.404701
+vn 0.869256 -2.16093e-008 0.494362
+vn 0.976385 -9.4433e-009 0.216037
+vn -0.235591 -4.2481e-008 0.971852
+vn 0.0717336 -4.35988e-008 0.997424
+vn -0.0321477 -4.36888e-008 0.999483
+vn -0.0321477 -4.36888e-008 0.999483
+vn -0.335153 -4.11833e-008 0.942164
+vn -0.235591 -4.2481e-008 0.971852
+vn 0.0717336 -4.35988e-008 0.997424
+vn -0.00434148 -4.3711e-008 0.999991
+vn 0.0854019 -4.35517e-008 0.996347
+vn 0.0854019 -4.35517e-008 0.996347
+vn -0.0321477 -4.36888e-008 0.999483
+vn 0.0717336 -4.35988e-008 0.997424
+vn 0.0395123 4.36773e-008 -0.999219
+vn 0.287687 4.18635e-008 -0.957725
+vn 0.190196 4.29135e-008 -0.981746
+vn 0.190196 4.29135e-008 -0.981746
+vn -0.0130128 4.37077e-008 -0.999915
+vn 0.0395123 4.36773e-008 -0.999219
+# 144 elements written
+f 1//1 2//2 3//3 
+f 4//4 5//5 6//6 
+f 7//7 8//8 9//9 
+f 10//10 11//11 12//12 
+f 13//13 14//14 15//15 
+f 16//16 17//17 18//18 
+f 19//19 20//20 21//21 
+f 22//22 23//23 24//24 
+f 25//25 26//26 27//27 
+f 28//28 29//29 30//30 
+f 31//31 32//32 33//33 
+f 34//34 35//35 36//36 
+f 37//37 38//38 39//39 
+f 40//40 41//41 42//42 
+f 43//43 44//44 45//45 
+f 46//46 47//47 48//48 
+f 49//49 50//50 51//51 
+f 52//52 53//53 54//54 
+f 55//55 56//56 57//57 
+f 58//58 59//59 60//60 
+f 61//61 62//62 63//63 
+f 64//64 65//65 66//66 
+f 67//67 68//68 69//69 
+f 70//70 71//71 72//72 
+f 73//73 74//74 75//75 
+f 76//76 77//77 78//78 
+f 79//79 80//80 81//81 
+f 82//82 83//83 84//84 
+f 85//85 86//86 87//87 
+f 88//88 89//89 90//90 
+f 91//91 92//92 93//93 
+f 94//94 95//95 96//96 
+f 97//97 98//98 99//99 
+f 100//100 101//101 102//102 
+f 103//103 104//104 105//105 
+f 106//106 107//107 108//108 
+f 109//109 110//110 111//111 
+f 112//112 113//113 114//114 
+f 115//115 116//116 117//117 
+f 118//118 119//119 120//120 
+f 121//121 122//122 123//123 
+f 124//124 125//125 126//126 
+f 127//127 128//128 129//129 
+f 130//130 131//131 132//132 
+f 133//133 134//134 135//135 
+f 136//136 137//137 138//138 
+f 139//139 140//140 141//141 
+f 142//142 143//143 144//144 
+
+g rootd_$$001_Bike_Old22_0
+
+o rootd_$$001_Bike_Old22_p929_Geometry_0
+usemtl material_1
+
+v -0.0774277 -0.00748152 0.248075
+v -0.0714421 0.00248666 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.156626 -0.0470806 0.248075
+v -0.0774277 -0.00748152 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.157129 0.0467845 0.248075
+v -0.156626 -0.0470806 0.248075
+v -0.157129 0.0467845 0.248075
+v -0.167167 -0.0466064 0.248075
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+v -0.167402 0.0459258 0.248075
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+v -0.172306 -0.03739 0.248075
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+v -0.172306 0.0368585 0.248075
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+v -0.0714421 0.00248666 0.269744
+v -0.0714421 0.00248666 0.248075
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+v -0.0774277 -0.00748152 0.269744
+v -0.0779304 0.0121353 0.269744
+v -0.0714421 0.00248666 0.269744
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+v -0.0774277 -0.00748152 0.269744
+v -0.156626 -0.0470806 0.269744
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+v -0.157129 0.0467845 0.269744
+v -0.0779304 0.0121353 0.269744
+v -0.156626 -0.0470806 0.269744
+v -0.167167 -0.0466064 0.269744
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+v -0.167402 0.0459258 0.269744
+v -0.157129 0.0467845 0.269744
+v -0.167167 -0.0466064 0.269744
+v -0.172306 -0.03739 0.269744
+v -0.167402 0.0459258 0.269744
+v -0.172306 -0.03739 0.269744
+v -0.172306 0.0368585 0.269744
+v -0.167402 0.0459258 0.269744
+v -0.172306 -0.03739 0.248075
+v -0.172306 0.0368585 0.248075
+v -0.172306 0.0368585 0.269744
+v -0.172306 0.0368585 0.269744
+v -0.172306 -0.03739 0.269744
+v -0.172306 -0.03739 0.248075
+v -0.167167 -0.0466064 0.248075
+v -0.172306 -0.03739 0.248075
+v -0.172306 -0.03739 0.269744
+v -0.172306 -0.03739 0.269744
+v -0.167167 -0.0466064 0.269744
+v -0.167167 -0.0466064 0.248075
+v -0.0714421 0.00248666 0.269744
+v -0.0779304 0.0121353 0.269744
+v -0.0779304 0.0121353 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.0714421 0.00248666 0.248075
+v -0.0714421 0.00248666 0.269744
+v -0.157129 0.0467845 0.269744
+v -0.157129 0.0467845 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.0779304 0.0121353 0.248075
+v -0.0779304 0.0121353 0.269744
+v -0.157129 0.0467845 0.269744
+v -0.167402 0.0459258 0.269744
+v -0.167402 0.0459258 0.248075
+v -0.157129 0.0467845 0.248075
+v -0.157129 0.0467845 0.248075
+v -0.157129 0.0467845 0.269744
+v -0.167402 0.0459258 0.269744
+v -0.172306 0.0368585 0.248075
+v -0.167402 0.0459258 0.248075
+v -0.167402 0.0459258 0.269744
+v -0.167402 0.0459258 0.269744
+v -0.172306 0.0368585 0.269744
+v -0.172306 0.0368585 0.248075
+v -0.156626 -0.0470806 0.269744
+v -0.156626 -0.0470806 0.248075
+v -0.167167 -0.0466064 0.248075
+v -0.167167 -0.0466064 0.248075
+v -0.167167 -0.0466064 0.269744
+v -0.156626 -0.0470806 0.269744
+v -0.0774277 -0.00748152 0.269744
+v -0.0774277 -0.00748152 0.248075
+v -0.156626 -0.0470806 0.248075
+v -0.156626 -0.0470806 0.248075
+v -0.156626 -0.0470806 0.269744
+v -0.0774277 -0.00748152 0.269744
+# 96 elements written
+
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -4.37114e-008 -4.37114e-008 1
+vn -0.679323 0.733839 2.38298e-009
+vn -0.857316 0.514791 -1.49722e-008
+vn -0.857316 0.514791 -1.49722e-008
+vn -0.857316 0.514791 -1.49722e-008
+vn -0.679323 0.733839 2.38298e-009
+vn -0.679323 0.733839 2.38298e-009
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 4.37114e-008 4.37114e-008 -1
+vn 0.985942 0.167089 5.04006e-008
+vn 0.94537 -0.325999 2.70736e-008
+vn 0.986626 -0.163 3.60019e-008
+vn 0.986626 -0.163 3.60019e-008
+vn 0.94251 0.334178 5.58058e-008
+vn 0.985942 0.167089 5.04006e-008
+vn 0.873423 0.486963 5.94643e-008
+vn 0.985942 0.167089 5.04006e-008
+vn 0.94251 0.334178 5.58058e-008
+vn 0.94251 0.334178 5.58058e-008
+vn 0.873423 0.486963 5.94643e-008
+vn 0.873423 0.486963 5.94643e-008
+vn -0.829826 -0.558022 -6.06648e-008
+vn -0.640849 -0.767667 -6.15682e-008
+vn -0.640848 -0.767667 -6.15682e-008
+vn -0.640848 -0.767667 -6.15682e-008
+vn -0.829826 -0.558022 -6.06648e-008
+vn -0.829826 -0.558022 -6.06648e-008
+vn -0.246124 -0.969238 -5.31252e-008
+vn -0.0802532 -0.996774 -4.70784e-008
+vn -0.640848 -0.767667 -6.15682e-008
+vn -0.640848 -0.767667 -6.15682e-008
+vn -0.640849 -0.767667 -6.15682e-008
+vn -0.246124 -0.969238 -5.31252e-008
+vn 0.0832949 -0.996525 -3.99186e-008
+vn 0.0832949 -0.996525 -3.99186e-008
+vn -0.0802532 -0.996774 -4.70784e-008
+vn -0.0802532 -0.996774 -4.70784e-008
+vn -0.246124 -0.969238 -5.31252e-008
+vn 0.0832949 -0.996525 -3.99186e-008
+vn 0.94537 -0.325999 2.70736e-008
+vn 0.879589 -0.475734 1.76531e-008
+vn 0.879589 -0.475734 1.76531e-008
+vn 0.879589 -0.475734 1.76531e-008
+vn 0.986626 -0.163 3.60019e-008
+vn 0.94537 -0.325999 2.70736e-008
+vn -0.122606 0.992456 3.80223e-008
+vn -0.291477 0.956578 2.90725e-008
+vn 0.0449457 0.99899 4.56319e-008
+vn 0.0449457 0.99899 4.56319e-008
+vn 0.0449457 0.99899 4.56319e-008
+vn -0.122606 0.992456 3.80223e-008
+vn -0.679323 0.733839 2.38298e-009
+vn -0.679323 0.733839 2.38298e-009
+vn -0.291477 0.956578 2.90725e-008
+vn -0.291477 0.956578 2.90725e-008
+vn -0.122606 0.992456 3.80223e-008
+vn -0.679323 0.733839 2.38298e-009
+# 96 elements written
+f 145//145 146//146 147//147 
+f 148//148 149//149 150//150 
+f 151//151 152//152 153//153 
+f 154//154 155//155 156//156 
+f 157//157 158//158 159//159 
+f 160//160 161//161 162//162 
+f 163//163 164//164 165//165 
+f 166//166 167//167 168//168 
+f 169//169 170//170 171//171 
+f 172//172 173//173 174//174 
+f 175//175 176//176 177//177 
+f 178//178 179//179 180//180 
+f 181//181 182//182 183//183 
+f 184//184 185//185 186//186 
+f 187//187 188//188 189//189 
+f 190//190 191//191 192//192 
+f 193//193 194//194 195//195 
+f 196//196 197//197 198//198 
+f 199//199 200//200 201//201 
+f 202//202 203//203 204//204 
+f 205//205 206//206 207//207 
+f 208//208 209//209 210//210 
+f 211//211 212//212 213//213 
+f 214//214 215//215 216//216 
+f 217//217 218//218 219//219 
+f 220//220 221//221 222//222 
+f 223//223 224//224 225//225 
+f 226//226 227//227 228//228 
+f 229//229 230//230 231//231 
+f 232//232 233//233 234//234 
+f 235//235 236//236 237//237 
+f 238//238 239//239 240//240 
+
+g rootd_$$001_Bike_Old17_0
+
+o rootd_$$001_Bike_Old17_p961_Geometry_0
+usemtl material_1
+
+v -0.319857 0.0138951 -0.0838993
+v -0.319728 0.0138951 -0.0911212
+v -0.00669321 0.0138951 -0.0855316
+v -0.00669321 0.0138951 -0.0855316
+v -0.00682208 0.0138951 -0.0783097
+v -0.319857 0.0138951 -0.0838993
+v -0.00669321 0.00667212 -0.0855316
+v -0.319728 0.00667212 -0.0911212
+v -0.319857 0.00667212 -0.0838993
+v -0.319857 0.00667212 -0.0838993
+v -0.00682208 0.00667212 -0.0783097
+v -0.00669321 0.00667212 -0.0855316
+v -0.319728 0.00667212 -0.0911212
+v -0.00669321 0.00667212 -0.0855316
+v -0.00669321 0.0138951 -0.0855316
+v -0.00669321 0.0138951 -0.0855316
+v -0.319728 0.0138951 -0.0911212
+v -0.319728 0.00667212 -0.0911212
+v -0.00682208 0.00667212 -0.0783097
+v -0.00682208 0.0138951 -0.0783097
+v -0.00669321 0.0138951 -0.0855316
+v -0.00669321 0.0138951 -0.0855316
+v -0.00669321 0.00667212 -0.0855316
+v -0.00682208 0.00667212 -0.0783097
+v -0.319857 0.0138951 -0.0838993
+v -0.00682208 0.0138951 -0.0783097
+v -0.00682208 0.00667212 -0.0783097
+v -0.00682208 0.00667212 -0.0783097
+v -0.319857 0.00667212 -0.0838993
+v -0.319857 0.0138951 -0.0838993
+v -0.319728 0.00667212 -0.0911212
+v -0.319728 0.0138951 -0.0911212
+v -0.319857 0.0138951 -0.0838993
+v -0.319857 0.0138951 -0.0838993
+v -0.319857 0.00667212 -0.0838993
+v -0.319728 0.00667212 -0.0911212
+# 36 elements written
+
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+# 36 elements written
+f 241//241 242//242 243//243 
+f 244//244 245//245 246//246 
+f 247//247 248//248 249//249 
+f 250//250 251//251 252//252 
+f 253//253 254//254 255//255 
+f 256//256 257//257 258//258 
+f 259//259 260//260 261//261 
+f 262//262 263//263 264//264 
+f 265//265 266//266 267//267 
+f 268//268 269//269 270//270 
+f 271//271 272//272 273//273 
+f 274//274 275//275 276//276 
+
+g rootd_$$001_Bike_Old11_0
+
+o rootd_$$001_Bike_Old11_p973_Geometry_0
+usemtl material_1
+
+v -0.319728 -0.0170835 -0.0911212
+v -0.319728 -0.00986047 -0.0911212
+v -0.319857 -0.00986047 -0.0838993
+v -0.319857 -0.00986047 -0.0838993
+v -0.319857 -0.0170835 -0.0838993
+v -0.319728 -0.0170835 -0.0911212
+v -0.319857 -0.00986047 -0.0838993
+v -0.00682208 -0.00986047 -0.0783097
+v -0.00682208 -0.0170835 -0.0783097
+v -0.00682208 -0.0170835 -0.0783097
+v -0.319857 -0.0170835 -0.0838993
+v -0.319857 -0.00986047 -0.0838993
+v -0.319728 -0.0170835 -0.0911212
+v -0.00669321 -0.0170835 -0.0855316
+v -0.00669321 -0.00986047 -0.0855316
+v -0.00669321 -0.00986047 -0.0855316
+v -0.319728 -0.00986047 -0.0911212
+v -0.319728 -0.0170835 -0.0911212
+v -0.00669321 -0.0170835 -0.0855316
+v -0.319728 -0.0170835 -0.0911212
+v -0.319857 -0.0170835 -0.0838993
+v -0.319857 -0.0170835 -0.0838993
+v -0.00682208 -0.0170835 -0.0783097
+v -0.00669321 -0.0170835 -0.0855316
+v -0.00682208 -0.0170835 -0.0783097
+v -0.00682208 -0.00986047 -0.0783097
+v -0.00669321 -0.00986047 -0.0855316
+v -0.00669321 -0.00986047 -0.0855316
+v -0.00669321 -0.0170835 -0.0855316
+v -0.00682208 -0.0170835 -0.0783097
+v -0.319857 -0.00986047 -0.0838993
+v -0.319728 -0.00986047 -0.0911212
+v -0.00669321 -0.00986047 -0.0855316
+v -0.00669321 -0.00986047 -0.0855316
+v -0.00682208 -0.00986047 -0.0783097
+v -0.319857 -0.00986047 -0.0838993
+# 36 elements written
+
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.99984 -7.80705e-010 0.0178604
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn 0.0178533 4.37044e-008 -0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn -0.0178533 -4.37044e-008 0.999841
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -0.999841 7.79873e-010 -0.0178414
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+# 36 elements written
+f 277//277 278//278 279//279 
+f 280//280 281//281 282//282 
+f 283//283 284//284 285//285 
+f 286//286 287//287 288//288 
+f 289//289 290//290 291//291 
+f 292//292 293//293 294//294 
+f 295//295 296//296 297//297 
+f 298//298 299//299 300//300 
+f 301//301 302//302 303//303 
+f 304//304 305//305 306//306 
+f 307//307 308//308 309//309 
+f 310//310 311//311 312//312 
+
+g rootd_$$001_Bike_Old41_0
+
+o rootd_$$001_Bike_Old41_p985_Geometry_0
+usemtl material_1
+
+v -0.321157 -0.00317385 -0.0889638
+v -0.07986 -0.00302304 0.136456
+v -0.316434 -0.00574394 -0.0937865
+v -0.07986 -0.00302304 0.136456
+v -0.321157 -0.00317385 -0.0889638
+v -0.0845831 -0.00045295 0.141278
+v -0.0833653 -0.0165231 0.140217
+v -0.324662 -0.0166739 -0.0852025
+v -0.319939 -0.019244 -0.0900252
+v -0.324662 -0.0166739 -0.0852025
+v -0.0833653 -0.0165231 0.140217
+v -0.0880884 -0.013953 0.145039
+v -0.0833653 -0.0165231 0.140217
+v -0.316434 -0.00574394 -0.0937865
+v -0.07986 -0.00302304 0.136456
+v -0.316434 -0.00574394 -0.0937865
+v -0.0833653 -0.0165231 0.140217
+v -0.319939 -0.019244 -0.0900252
+v -0.0880884 -0.013953 0.145039
+v -0.07986 -0.00302304 0.136456
+v -0.0845831 -0.00045295 0.141278
+v -0.07986 -0.00302304 0.136456
+v -0.0880884 -0.013953 0.145039
+v -0.0833653 -0.0165231 0.140217
+v -0.321157 -0.00317385 -0.0889638
+v -0.0880884 -0.013953 0.145039
+v -0.0845831 -0.00045295 0.141278
+v -0.0880884 -0.013953 0.145039
+v -0.321157 -0.00317385 -0.0889638
+v -0.324662 -0.0166739 -0.0852025
+v -0.316434 -0.00574394 -0.0937865
+v -0.324662 -0.0166739 -0.0852025
+v -0.321157 -0.00317385 -0.0889638
+v -0.324662 -0.0166739 -0.0852025
+v -0.316434 -0.00574394 -0.0937865
+v -0.319939 -0.019244 -0.0900252
+# 36 elements written
+
+vn 0.242657 0.934518 -0.260374
+vn 0.242657 0.934518 -0.260374
+vn 0.242657 0.934518 -0.260374
+vn 0.242657 0.934518 -0.260374
+vn 0.242657 0.934518 -0.260374
+vn 0.242657 0.934517 -0.260374
+vn -0.242657 -0.934517 0.260374
+vn -0.242657 -0.934517 0.260374
+vn -0.242657 -0.934518 0.260374
+vn -0.242657 -0.934517 0.260374
+vn -0.242657 -0.934517 0.260374
+vn -0.242657 -0.934518 0.260374
+vn 0.653906 -0.355814 -0.667685
+vn 0.653906 -0.355814 -0.667685
+vn 0.653906 -0.355814 -0.667685
+vn 0.653906 -0.355814 -0.667685
+vn 0.653906 -0.355814 -0.667685
+vn 0.653906 -0.355814 -0.667685
+vn 0.716609 0.00824452 0.697427
+vn 0.716609 0.00824452 0.697427
+vn 0.716609 0.00824452 0.697427
+vn 0.716609 0.00824452 0.697427
+vn 0.716609 0.00824452 0.697427
+vn 0.716609 0.00824452 0.697427
+vn -0.653906 0.355814 0.667685
+vn -0.653906 0.355814 0.667685
+vn -0.653906 0.355814 0.667685
+vn -0.653906 0.355814 0.667685
+vn -0.653906 0.355814 0.667685
+vn -0.653906 0.355814 0.667685
+vn -0.71661 -0.00824404 -0.697426
+vn -0.71661 -0.00824404 -0.697426
+vn -0.71661 -0.00824404 -0.697426
+vn -0.71661 -0.00824404 -0.697426
+vn -0.71661 -0.00824404 -0.697426
+vn -0.71661 -0.00824404 -0.697426
+# 36 elements written
+f 313//313 314//314 315//315 
+f 316//316 317//317 318//318 
+f 319//319 320//320 321//321 
+f 322//322 323//323 324//324 
+f 325//325 326//326 327//327 
+f 328//328 329//329 330//330 
+f 331//331 332//332 333//333 
+f 334//334 335//335 336//336 
+f 337//337 338//338 339//339 
+f 340//340 341//341 342//342 
+f 343//343 344//344 345//345 
+f 346//346 347//347 348//348 
+
+g rootd_$$001_Bike_Old42_0
+
+o rootd_$$001_Bike_Old42_p997_Geometry_0
+usemtl material_1
+
+v -0.318592 0.00171454 -0.0890108
+v -0.0772952 0.00156371 0.136409
+v -0.313869 0.00428463 -0.0938336
+v -0.0772952 0.00156371 0.136409
+v -0.318592 0.00171454 -0.0890108
+v -0.0820185 -0.00100638 0.141231
+v -0.0808007 0.0150638 0.14017
+v -0.322098 0.0152146 -0.0852495
+v -0.317375 0.0177847 -0.0900721
+v -0.322098 0.0152146 -0.0852495
+v -0.0808007 0.0150638 0.14017
+v -0.0855238 0.0124937 0.144993
+v -0.0808007 0.0150638 0.14017
+v -0.313869 0.00428463 -0.0938336
+v -0.0772952 0.00156371 0.136409
+v -0.313869 0.00428463 -0.0938336
+v -0.0808007 0.0150638 0.14017
+v -0.317375 0.0177847 -0.0900721
+v -0.0855238 0.0124937 0.144993
+v -0.0772952 0.00156371 0.136409
+v -0.0820185 -0.00100638 0.141231
+v -0.0772952 0.00156371 0.136409
+v -0.0855238 0.0124937 0.144993
+v -0.0808007 0.0150638 0.14017
+v -0.318592 0.00171454 -0.0890108
+v -0.0855238 0.0124937 0.144993
+v -0.0820185 -0.00100638 0.141231
+v -0.0855238 0.0124937 0.144993
+v -0.318592 0.00171454 -0.0890108
+v -0.322098 0.0152146 -0.0852495
+v -0.313869 0.00428463 -0.0938336
+v -0.322098 0.0152146 -0.0852495
+v -0.318592 0.00171454 -0.0890108
+v -0.322098 0.0152146 -0.0852495
+v -0.313869 0.00428463 -0.0938336
+v -0.317375 0.0177847 -0.0900721
+# 36 elements written
+
+vn -0.242652 0.93452 0.260369
+vn -0.242652 0.93452 0.260369
+vn -0.242651 0.934521 0.260368
+vn -0.242652 0.93452 0.260369
+vn -0.242652 0.93452 0.260369
+vn -0.242653 0.934519 0.260371
+vn 0.242657 -0.934517 -0.260374
+vn 0.242657 -0.934517 -0.260374
+vn 0.242657 -0.934518 -0.260374
+vn 0.242657 -0.934517 -0.260374
+vn 0.242657 -0.934517 -0.260374
+vn 0.242657 -0.934517 -0.260374
+vn -0.653904 -0.355824 0.667682
+vn -0.653904 -0.355824 0.667682
+vn -0.653905 -0.355821 0.667683
+vn -0.653904 -0.355824 0.667682
+vn -0.653904 -0.355824 0.667682
+vn -0.653903 -0.355827 0.667681
+vn -0.716604 0.00824144 -0.697432
+vn -0.716604 0.00824144 -0.697432
+vn -0.716601 0.00824597 -0.697435
+vn -0.716604 0.00824144 -0.697432
+vn -0.716604 0.00824144 -0.697432
+vn -0.716607 0.00823691 -0.697429
+vn 0.653906 0.355815 -0.667685
+vn 0.653906 0.355815 -0.667685
+vn 0.653906 0.355814 -0.667685
+vn 0.653906 0.355815 -0.667685
+vn 0.653906 0.355815 -0.667685
+vn 0.653906 0.355816 -0.667684
+vn 0.71661 -0.00824168 0.697426
+vn 0.71661 -0.00824168 0.697426
+vn 0.71661 -0.00824071 0.697425
+vn 0.71661 -0.00824168 0.697426
+vn 0.71661 -0.00824168 0.697426
+vn 0.716609 -0.00824266 0.697426
+# 36 elements written
+f 349//349 350//350 351//351 
+f 352//352 353//353 354//354 
+f 355//355 356//356 357//357 
+f 358//358 359//359 360//360 
+f 361//361 362//362 363//363 
+f 364//364 365//365 366//366 
+f 367//367 368//368 369//369 
+f 370//370 371//371 372//372 
+f 373//373 374//374 375//375 
+f 376//376 377//377 378//378 
+f 379//379 380//380 381//381 
+f 382//382 383//383 384//384 
+
+g rootd_$$001_Bike_Old18_0
+
+o rootd_$$001_Bike_Old18_p1009_Geometry_0
+usemtl material_1
+
+v -0.127241 0.00690816 0.244452
+v -0.00705755 0.00690817 -0.0867289
+v -0.00366273 0.00690817 -0.0854968
+v -0.00366273 0.00690817 -0.0854968
+v -0.123846 0.00690816 0.245684
+v -0.127241 0.00690816 0.244452
+v -0.00366273 -0.00753784 -0.0854968
+v -0.00705755 -0.00753784 -0.0867289
+v -0.127241 -0.00753786 0.244452
+v -0.127241 -0.00753786 0.244452
+v -0.123846 -0.00753786 0.245684
+v -0.00366273 -0.00753784 -0.0854968
+v -0.123846 0.00690816 0.245684
+v -0.00366273 0.00690817 -0.0854968
+v -0.00366273 -0.00753784 -0.0854968
+v -0.00366273 -0.00753784 -0.0854968
+v -0.123846 -0.00753786 0.245684
+v -0.123846 0.00690816 0.245684
+v -0.127241 0.00690816 0.244452
+v -0.123846 0.00690816 0.245684
+v -0.123846 -0.00753786 0.245684
+v -0.123846 -0.00753786 0.245684
+v -0.127241 -0.00753786 0.244452
+v -0.127241 0.00690816 0.244452
+v -0.00705755 -0.00753784 -0.0867289
+v -0.00705755 0.00690817 -0.0867289
+v -0.127241 0.00690816 0.244452
+v -0.127241 0.00690816 0.244452
+v -0.127241 -0.00753786 0.244452
+v -0.00705755 -0.00753784 -0.0867289
+v -0.00705755 -0.00753784 -0.0867289
+v -0.00366273 -0.00753784 -0.0854968
+v -0.00366273 0.00690817 -0.0854968
+v -0.00366273 0.00690817 -0.0854968
+v -0.00705755 0.00690817 -0.0867289
+v -0.00705755 -0.00753784 -0.0867289
+# 36 elements written
+
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn -3.09761e-016 -1 -4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn 3.09761e-016 1 4.37114e-008
+vn -0.940018 1.49111e-008 -0.341125
+vn -0.940018 1.49111e-008 -0.341125
+vn -0.940018 1.49111e-008 -0.341125
+vn -0.940018 1.49111e-008 -0.341125
+vn -0.940018 1.49111e-008 -0.341125
+vn -0.940018 1.49111e-008 -0.341125
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.34113 4.10894e-008 -0.940016
+vn 0.940018 -1.49111e-008 0.341125
+vn 0.940018 -1.49111e-008 0.341125
+vn 0.940018 -1.49111e-008 0.341125
+vn 0.940018 -1.49111e-008 0.341125
+vn 0.940018 -1.49111e-008 0.341125
+vn 0.940018 -1.49111e-008 0.341125
+vn -0.341161 -4.10889e-008 0.940005
+vn -0.341161 -4.10889e-008 0.940005
+vn -0.341161 -4.10889e-008 0.940005
+vn -0.341161 -4.10889e-008 0.940005
+vn -0.341161 -4.10889e-008 0.940005
+vn -0.341161 -4.10889e-008 0.940005
+# 36 elements written
+f 385//385 386//386 387//387 
+f 388//388 389//389 390//390 
+f 391//391 392//392 393//393 
+f 394//394 395//395 396//396 
+f 397//397 398//398 399//399 
+f 400//400 401//401 402//402 
+f 403//403 404//404 405//405 
+f 406//406 407//407 408//408 
+f 409//409 410//410 411//411 
+f 412//412 413//413 414//414 
+f 415//415 416//416 417//417 
+f 418//418 419//419 420//420 
+
+g rootd_$$001_Bike_Old44_0
+
+o rootd_$$001_Bike_Old44_p1021_Geometry_0
+usemtl material_1
+
+v -0.079307 0.00582861 0.14365
+v 0.269344 0.00682799 0.139248
+v -0.079453 0.00572604 0.135975
+v 0.269344 0.00682799 0.139248
+v -0.079307 0.00582861 0.14365
+v 0.26949 0.0069307 0.146923
+v 0.269551 -0.00898462 0.139043
+v -0.0791 -0.009984 0.143445
+v -0.079246 -0.0100866 0.13577
+v -0.0791 -0.009984 0.143445
+v 0.269551 -0.00898462 0.139043
+v 0.269697 -0.00888191 0.146718
+v 0.269551 -0.00898462 0.139043
+v -0.079453 0.00572604 0.135975
+v 0.269344 0.00682799 0.139248
+v -0.079453 0.00572604 0.135975
+v 0.269551 -0.00898462 0.139043
+v -0.079246 -0.0100866 0.13577
+v 0.269697 -0.00888191 0.146718
+v 0.269344 0.00682799 0.139248
+v 0.26949 0.0069307 0.146923
+v 0.269344 0.00682799 0.139248
+v 0.269697 -0.00888191 0.146718
+v 0.269551 -0.00898462 0.139043
+v -0.079307 0.00582861 0.14365
+v 0.269697 -0.00888191 0.146718
+v 0.26949 0.0069307 0.146923
+v 0.269697 -0.00888191 0.146718
+v -0.079307 0.00582861 0.14365
+v -0.0791 -0.009984 0.143445
+v -0.079453 0.00572604 0.135975
+v -0.0791 -0.009984 0.143445
+v -0.079307 0.00582861 0.14365
+v -0.0791 -0.009984 0.143445
+v -0.079453 0.00572604 0.135975
+v -0.079246 -0.0100866 0.13577
+# 36 elements written
+
+vn -0.00303424 0.999907 -0.0133142
+vn -0.00303424 0.999907 -0.0133142
+vn -0.00303412 0.999907 -0.0133047
+vn -0.00303424 0.999907 -0.0133142
+vn -0.00303424 0.999907 -0.0133142
+vn -0.00303436 0.999907 -0.0133237
+vn 0.00303424 -0.999907 0.0133142
+vn 0.00303424 -0.999907 0.0133142
+vn 0.00303413 -0.999907 0.0133049
+vn 0.00303424 -0.999907 0.0133142
+vn 0.00303424 -0.999907 0.0133142
+vn 0.00303436 -0.999907 0.0133235
+vn 0.00934119 0.0130526 -0.999871
+vn 0.00934119 0.0130526 -0.999871
+vn 0.00934137 0.013057 -0.999871
+vn 0.00934119 0.0130526 -0.999871
+vn 0.00934119 0.0130526 -0.999871
+vn 0.009341 0.0130483 -0.999871
+vn 0.999727 0.0133272 -0.0192025
+vn 0.999727 0.0133272 -0.0192025
+vn 0.999727 0.0133272 -0.0192024
+vn 0.999727 0.0133272 -0.0192025
+vn 0.999727 0.0133272 -0.0192025
+vn 0.999727 0.0133271 -0.0192025
+vn -0.00934118 -0.0130526 0.999871
+vn -0.00934118 -0.0130526 0.999871
+vn -0.00934099 -0.0130482 0.999871
+vn -0.00934118 -0.0130526 0.999871
+vn -0.00934118 -0.0130526 0.999871
+vn -0.00934137 -0.013057 0.999871
+vn -0.999727 -0.0133362 0.0192039
+vn -0.999727 -0.0133362 0.0192039
+vn -0.999727 -0.0133363 0.0192037
+vn -0.999727 -0.0133362 0.0192039
+vn -0.999727 -0.0133362 0.0192039
+vn -0.999727 -0.0133361 0.0192041
+# 36 elements written
+f 421//421 422//422 423//423 
+f 424//424 425//425 426//426 
+f 427//427 428//428 429//429 
+f 430//430 431//431 432//432 
+f 433//433 434//434 435//435 
+f 436//436 437//437 438//438 
+f 439//439 440//440 441//441 
+f 442//442 443//443 444//444 
+f 445//445 446//446 447//447 
+f 448//448 449//449 450//450 
+f 451//451 452//452 453//453 
+f 454//454 455//455 456//456 
+
+g rootd_$$001_Bike_Old43_0
+
+o rootd_$$001_Bike_Old43_p1033_Geometry_0
+usemtl material_1
+
+v -0.00697982 0.00524226 -0.0776029
+v 0.271978 0.00748629 0.131653
+v -0.00230133 0.00513781 -0.0836824
+v 0.271978 0.00748629 0.131653
+v -0.00697982 0.00524226 -0.0776029
+v 0.267299 0.00759059 0.137733
+v 0.272226 -0.00832458 0.131583
+v -0.0067309 -0.0105686 -0.0776731
+v -0.00205258 -0.0106729 -0.0837526
+v -0.0067309 -0.0105686 -0.0776731
+v 0.272226 -0.00832458 0.131583
+v 0.267548 -0.00822028 0.137663
+v 0.272226 -0.00832458 0.131583
+v -0.00230133 0.00513781 -0.0836824
+v 0.271978 0.00748629 0.131653
+v -0.00230133 0.00513781 -0.0836824
+v 0.272226 -0.00832458 0.131583
+v -0.00205258 -0.0106729 -0.0837526
+v 0.267548 -0.00822028 0.137663
+v 0.271978 0.00748629 0.131653
+v 0.267299 0.00759059 0.137733
+v 0.271978 0.00748629 0.131653
+v 0.267548 -0.00822028 0.137663
+v 0.272226 -0.00832458 0.131583
+v -0.00697982 0.00524226 -0.0776029
+v 0.267548 -0.00822028 0.137663
+v 0.267299 0.00759059 0.137733
+v 0.267548 -0.00822028 0.137663
+v -0.00697982 0.00524226 -0.0776029
+v -0.0067309 -0.0105686 -0.0776731
+v -0.00230133 0.00513781 -0.0836824
+v -0.0067309 -0.0105686 -0.0776731
+v -0.00697982 0.00524226 -0.0776029
+v -0.0067309 -0.0105686 -0.0776731
+v -0.00230133 0.00513781 -0.0836824
+v -0.00205258 -0.0106729 -0.0837526
+# 36 elements written
+
+vn 0.00306442 0.999886 -0.0148078
+vn 0.00306442 0.999886 -0.0148078
+vn 0.00307008 0.999886 -0.0148153
+vn 0.00306442 0.999886 -0.0148078
+vn 0.00306442 0.999886 -0.0148078
+vn 0.00305876 0.999886 -0.0148002
+vn -0.00305882 -0.999886 0.0148003
+vn -0.00305882 -0.999886 0.0148003
+vn -0.00305885 -0.999886 0.0148003
+vn -0.00305882 -0.999886 0.0148003
+vn -0.00305882 -0.999886 0.0148003
+vn -0.00305879 -0.999886 0.0148003
+vn 0.617398 0.0132063 -0.78654
+vn 0.617398 0.0132063 -0.78654
+vn 0.617398 0.0132063 -0.78654
+vn 0.617398 0.0132063 -0.78654
+vn 0.617398 0.0132063 -0.78654
+vn 0.617398 0.0132063 -0.78654
+vn 0.792543 0.00976191 0.609737
+vn 0.792543 0.00976191 0.609737
+vn 0.792543 0.00976199 0.609738
+vn 0.792543 0.00976191 0.609737
+vn 0.792543 0.00976191 0.609737
+vn 0.792543 0.00976182 0.609737
+vn -0.617398 -0.0132095 0.78654
+vn -0.617398 -0.0132095 0.78654
+vn -0.617398 -0.0132064 0.78654
+vn -0.617398 -0.0132095 0.78654
+vn -0.617398 -0.0132095 0.78654
+vn -0.617398 -0.0132126 0.78654
+vn -0.792548 -0.00976593 -0.609732
+vn -0.792548 -0.00976593 -0.609732
+vn -0.792543 -0.00976992 -0.609738
+vn -0.792548 -0.00976593 -0.609732
+vn -0.792548 -0.00976593 -0.609732
+vn -0.792553 -0.00976194 -0.609725
+# 36 elements written
+f 457//457 458//458 459//459 
+f 460//460 461//461 462//462 
+f 463//463 464//464 465//465 
+f 466//466 467//467 468//468 
+f 469//469 470//470 471//471 
+f 472//472 473//473 474//474 
+f 475//475 476//476 477//477 
+f 478//478 479//479 480//480 
+f 481//481 482//482 483//483 
+f 484//484 485//485 486//486 
+f 487//487 488//488 489//489 
+f 490//490 491//491 492//492 
+
+g rootd_$$001_Bike_Old3_0
+
+o rootd_$$001_Bike_Old3_p1045_Geometry_0
+usemtl material_1
+
+v -0.086414 -0.00392635 0.132461
+v -0.086414 0.00329666 0.139684
+v -0.086414 0.00329666 0.132461
+v -0.086414 0.00329666 0.139684
+v -0.086414 -0.00392635 0.132461
+v -0.086414 -0.00392635 0.139684
+# 6 elements written
+
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+# 6 elements written
+f 493//493 494//494 495//495 
+f 496//496 497//497 498//498 
+
+g rootd_$$001_Bike_Old13_0
+
+o rootd_$$001_Bike_Old13_p1047_Geometry_0
+usemtl material_1
+
+v -0.086414 -0.00392635 0.132461
+v -0.086414 0.00329666 0.132461
+v -0.086414 0.00329666 0.139684
+v -0.086414 0.00329666 0.139684
+v -0.086414 -0.00392635 0.139684
+v -0.086414 -0.00392635 0.132461
+# 6 elements written
+
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+# 6 elements written
+f 499//499 500//500 501//501 
+f 502//502 503//503 504//504 
+
+g rootd_$$001_Bike_Old2_0
+
+o rootd_$$001_Bike_Old2_p1049_Geometry_0
+usemtl material_1
+
+v 0.269943 0.00329666 0.139684
+v 0.269943 -0.00392635 0.132461
+v 0.269943 0.00329666 0.132461
+v 0.269943 -0.00392635 0.132461
+v 0.269943 0.00329666 0.139684
+v 0.269943 -0.00392635 0.139684
+# 6 elements written
+
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+vn 1 -2.18824e-015 4.37114e-008
+# 6 elements written
+f 505//505 506//506 507//507 
+f 508//508 509//509 510//510 
+
+g rootd_$$001_Bike_Old12_0
+
+o rootd_$$001_Bike_Old12_p1051_Geometry_0
+usemtl material_1
+
+v 0.269943 0.00329666 0.139684
+v 0.269943 0.00329666 0.132461
+v 0.269943 -0.00392635 0.132461
+v 0.269943 -0.00392635 0.132461
+v 0.269943 -0.00392635 0.139684
+v 0.269943 0.00329666 0.139684
+# 6 elements written
+
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+vn -1 2.18824e-015 -4.37114e-008
+# 6 elements written
+f 511//511 512//512 513//513 
+f 514//514 515//515 516//516 
diff --git a/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion_zup.obj b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion_zup.obj
new file mode 100644
index 0000000000000000000000000000000000000000..96324b0bb006b9e8532a787e3c0d04c4b7c310ad
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/dgmgwdets8i81n11nulz/part_objs/none_motion_zup.obj
@@ -0,0 +1,724 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl material_0
+v -0.33726500 -0.09382320 0.00431812
+v -0.33726500 -0.09382320 0.00287351
+v -0.33540400 -0.09797030 0.00287351
+v -0.33540400 -0.09797030 0.00431812
+v -0.33777400 -0.08930610 0.00431812
+v -0.33777400 -0.08930610 0.00287351
+v -0.33688200 -0.08484860 0.00431812
+v -0.33688200 -0.08484860 0.00287351
+v -0.33467500 -0.08087480 0.00431812
+v -0.33467500 -0.08087480 0.00287351
+v -0.33136200 -0.07776240 0.00431812
+v -0.33136200 -0.07776240 0.00287351
+v -0.32725800 -0.07580730 0.00431812
+v -0.32725800 -0.07580730 0.00287351
+v -0.00536692 -0.04662390 0.00431812
+v 0.00640022 -0.04728590 0.00431812
+v 0.00640022 -0.04728590 0.00287352
+v -0.00536692 -0.04662390 0.00287352
+v 0.01747440 -0.05139810 0.00431812
+v 0.01747440 -0.05139810 0.00287352
+v -0.31838100 -0.07596700 0.00431812
+v -0.31838100 -0.07596700 0.00287351
+v 0.02684350 -0.05859310 0.00431812
+v 0.02684350 -0.05859310 0.00287352
+v 0.03367410 -0.06823120 0.00431812
+v 0.03367410 -0.06823120 0.00287351
+v -0.32403700 -0.10463700 0.00287351
+v -0.00395785 -0.12560200 0.00287351
+v -0.00395785 -0.12560200 0.00431811
+v -0.32403700 -0.10463700 0.00431811
+v -0.32844500 -0.10365100 0.00287351
+v -0.32844500 -0.10365100 0.00431811
+v -0.33236800 -0.10135300 0.00287351
+v -0.33236800 -0.10135300 0.00431811
+v 0.03428810 -0.10261400 0.00431811
+v 0.03428810 -0.10261400 0.00287351
+v 0.03756970 -0.09126610 0.00287351
+v 0.03756970 -0.09126610 0.00431812
+v 0.02780600 -0.11249000 0.00431811
+v 0.02780600 -0.11249000 0.00287351
+v 0.03735870 -0.07945490 0.00287351
+v 0.03735870 -0.07945490 0.00431812
+v 0.01869980 -0.12001500 0.00287351
+v 0.01869980 -0.12001500 0.00431811
+v 0.00777940 -0.12452000 0.00287351
+v 0.00777940 -0.12452000 0.00431811
+v -0.32275400 -0.07519550 0.00431812
+v -0.32275400 -0.07519550 0.00287351
+v -0.07742770 0.24807500 0.00748152
+v -0.07144210 0.24807500 -0.00248666
+v -0.07793040 0.24807500 -0.01213530
+v -0.15662600 0.24807500 0.04708060
+v -0.15712900 0.24807500 -0.04678450
+v -0.16716700 0.24807500 0.04660640
+v -0.16740200 0.24807500 -0.04592580
+v -0.17230600 0.24807500 0.03739000
+v -0.17230600 0.24807500 -0.03685850
+v -0.07742770 0.26974400 0.00748152
+v -0.07144210 0.26974400 -0.00248666
+v -0.07144210 0.24807500 -0.00248666
+v -0.07742770 0.24807500 0.00748152
+v -0.07793040 0.26974400 -0.01213530
+v -0.07144210 0.26974400 -0.00248666
+v -0.07742770 0.26974400 0.00748152
+v -0.15662600 0.26974400 0.04708060
+v -0.15712900 0.26974400 -0.04678450
+v -0.16716700 0.26974400 0.04660640
+v -0.16740200 0.26974400 -0.04592580
+v -0.17230600 0.26974400 0.03739000
+v -0.17230600 0.26974400 -0.03685850
+v -0.17230600 0.24807500 0.03739000
+v -0.17230600 0.24807500 -0.03685850
+v -0.17230600 0.26974400 -0.03685850
+v -0.17230600 0.26974400 0.03739000
+v -0.16716700 0.24807500 0.04660640
+v -0.16716700 0.26974400 0.04660640
+v -0.07144210 0.26974400 -0.00248666
+v -0.07793040 0.26974400 -0.01213530
+v -0.07793040 0.24807500 -0.01213530
+v -0.07144210 0.24807500 -0.00248666
+v -0.15712900 0.26974400 -0.04678450
+v -0.15712900 0.24807500 -0.04678450
+v -0.16740200 0.26974400 -0.04592580
+v -0.16740200 0.24807500 -0.04592580
+v -0.16740200 0.24807500 -0.04592580
+v -0.16740200 0.26974400 -0.04592580
+v -0.15662600 0.26974400 0.04708060
+v -0.15662600 0.24807500 0.04708060
+v -0.16716700 0.24807500 0.04660640
+v -0.16716700 0.26974400 0.04660640
+v -0.31985700 -0.08389930 -0.01389510
+v -0.31972800 -0.09112120 -0.01389510
+v -0.00669321 -0.08553160 -0.01389510
+v -0.00682208 -0.07830970 -0.01389510
+v -0.00669321 -0.08553160 -0.00667212
+v -0.31972800 -0.09112120 -0.00667212
+v -0.31985700 -0.08389930 -0.00667212
+v -0.00682208 -0.07830970 -0.00667212
+v -0.31972800 -0.09112120 -0.00667212
+v -0.00669321 -0.08553160 -0.00667212
+v -0.00669321 -0.08553160 -0.01389510
+v -0.31972800 -0.09112120 -0.01389510
+v -0.00682208 -0.07830970 -0.00667212
+v -0.00682208 -0.07830970 -0.01389510
+v -0.00669321 -0.08553160 -0.01389510
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diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/LICENSE.txt b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6e493d49ff625c2b099395b7c843f91427e53ef
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/LICENSE.txt
@@ -0,0 +1,362 @@
+Functional Bicycle (http://www.thingiverse.com/thing:309158) by thomasgivan is licensed under the Creative Commons - Attribution - Share Alike license.
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+    survive any termination of this License.
+ b. Subject to the above terms and conditions, the license granted here is
+    perpetual (for the duration of the applicable copyright in the Work).
+    Notwithstanding the above, Licensor reserves the right to release the
+    Work under different license terms or to stop distributing the Work at
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+    withdraw this License (or any other license that has been, or is
+    required to be, granted under the terms of this License), and this
+    License will continue in full force and effect unless terminated as
+    stated above.
+
+8. Miscellaneous
+
+ a. Each time You Distribute or Publicly Perform the Work or a Collection,
+    the Licensor offers to the recipient a license to the Work on the same
+    terms and conditions as the license granted to You under this License.
+ b. Each time You Distribute or Publicly Perform an Adaptation, Licensor
+    offers to the recipient a license to the original Work on the same
+    terms and conditions as the license granted to You under this License.
+ c. If any provision of this License is invalid or unenforceable under
+    applicable law, it shall not affect the validity or enforceability of
+    the remainder of the terms of this License, and without further action
+    by the parties to this agreement, such provision shall be reformed to
+    the minimum extent necessary to make such provision valid and
+    enforceable.
+ d. No term or provision of this License shall be deemed waived and no
+    breach consented to unless such waiver or consent shall be in writing
+    and signed by the party to be charged with such waiver or consent.
+ e. This License constitutes the entire agreement between the parties with
+    respect to the Work licensed here. There are no understandings,
+    agreements or representations with respect to the Work not specified
+    here. Licensor shall not be bound by any additional provisions that
+    may appear in any communication from You. This License may not be
+    modified without the mutual written agreement of the Licensor and You.
+ f. The rights granted under, and the subject matter referenced, in this
+    License were drafted utilizing the terminology of the Berne Convention
+    for the Protection of Literary and Artistic Works (as amended on
+    September 28, 1979), the Rome Convention of 1961, the WIPO Copyright
+    Treaty of 1996, the WIPO Performances and Phonograms Treaty of 1996
+    and the Universal Copyright Convention (as revised on July 24, 1971).
+    These rights and subject matter take effect in the relevant
+    jurisdiction in which the License terms are sought to be enforced
+    according to the corresponding provisions of the implementation of
+    those treaty provisions in the applicable national law. If the
+    standard suite of rights granted under applicable copyright law
+    includes additional rights not granted under this License, such
+    additional rights are deemed to be included in the License; this
+    License is not intended to restrict the license of any rights under
+    applicable law.
+
+
+Creative Commons Notice
+
+    Creative Commons is not a party to this License, and makes no warranty
+    whatsoever in connection with the Work. Creative Commons will not be
+    liable to You or any party on any legal theory for any damages
+    whatsoever, including without limitation any general, special,
+    incidental or consequential damages arising in connection to this
+    license. Notwithstanding the foregoing two (2) sentences, if Creative
+    Commons has expressly identified itself as the Licensor hereunder, it
+    shall have all rights and obligations of Licensor.
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+    Except for the limited purpose of indicating to the public that the
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\ No newline at end of file
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/bike.urdf b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/bike.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b8446651b9287a50a0bb6baeb1907521bad1724
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/bike.urdf
@@ -0,0 +1,143 @@
+<?xml version="1.1" ?>
+<robot name="frame">
+  <link name="frameLink">
+    <inertial>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+       <mass value="5.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+      <mesh filename="files/frame_scaled_right.stl"/>
+      </geometry>
+	<material name="framemat0">
+      		<color rgba="0.9 0.4 0. 1" />
+	</material>
+    </visual>
+     <visual>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+      <mesh filename="files/frame_scaled_left.stl"/>
+      </geometry>
+        <material name="framemat0">
+                <color rgba="0.9 0.4 0. 1" />
+        </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+       <mesh filename="files/frame_scaled_right.stl"/>
+      </geometry>
+    </collision>
+<collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+       <mesh filename="files/frame_scaled_left.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+ <link name="handlebarLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".5"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+
+ <visual>
+<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
+<geometry>
+ <mesh filename="files/handlebar_scaled.stl"/>
+      </geometry>
+        <material name="framemat0">
+                <color rgba="0.9 0.4 0. 1" />
+        </material>
+    </visual>
+     <collision>
+<origin rpy=" -1.5089523943366046 0.017064611667450248 -1.57454489647697 " xyz=" -0.03313875198364258 0.0 -0.23958677053451538"/>
+      <geometry>
+       <mesh filename="files/handlebar_scaled.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+ <joint name="frame_to_handlebar" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="frameLink"/>
+    <child link="handlebarLink"/>
+    <origin rpy="0 -0.261799387799149 0" xyz="0.70  0  0.22"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+<link name="frontWheelLink">
+    <inertial>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+      <mesh filename="files/wheel_scaled.stl"/>
+      </geometry>
+        <material name="framemat0">
+                <color rgba="0.9 0.4 0. 1" />
+        </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+       <mesh filename="files/wheel_scaled.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+ <joint name="handlebar_to_frontwheel" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="handlebarLink"/>
+    <child link="frontWheelLink"/>
+    <origin rpy="0 0 0" xyz="0.07, 0, -0.69"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+<link name="backWheelLink">
+    <inertial>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+      <mesh filename="files/wheel_scaled.stl"/>
+      </geometry>
+        <material name="framemat0">
+                <color rgba="0.9 0.4 0. 1" />
+        </material>
+    </visual>
+    <collision>
+      <origin rpy="1.57 0 0" xyz="0 0 0"/>
+      <geometry>
+       <mesh filename="files/wheel_scaled.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+ <joint name="frame_to_backwheel" type="continuous">
+    <axis xyz="0 1 0"/>
+    <parent link="frameLink"/>
+    <child link="backWheelLink"/>
+    <origin rpy="0 0 0" xyz="-0.69, 0, -0.42"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+
+</robot>
+
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/all_pedal_parts.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/all_pedal_parts.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ab5b6835e5fcd5455659ac93e3eccc1da945d97c
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/all_pedal_parts.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c50fe250fb1e62a83feef3bd7dc064782bdbac89e2cae39dfac9733a66930d3
+size 127684
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/bike_rack.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/bike_rack.stl
new file mode 100644
index 0000000000000000000000000000000000000000..33439e9e9f4bd565ed9ddf70554a3efa16c7439d
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/bike_rack.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e83d182476216db4e81a3a4f4f7d310bb1aff9e6e254f6e2cc2f3207f18e9007
+size 102584
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e02ad3b10b1f6bb9fc855d5a8ea9d20a32bbde42
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ceb8603049b194b85d17b5c170785c0fcc1179d03f2ec912ba4ac28f38245d
+size 137884
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_left.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_left.stl
new file mode 100644
index 0000000000000000000000000000000000000000..646c9d23b0ac327d218a2ecaf3986d4c77b6fc6d
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3aed1c7e96bc6a7bdb6bb1584b1e176f798e0b32a5c75910123452b0b5f4746d
+size 137884
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_right.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_right.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e02ad3b10b1f6bb9fc855d5a8ea9d20a32bbde42
--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/frame_scaled_right.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ceb8603049b194b85d17b5c170785c0fcc1179d03f2ec912ba4ac28f38245d
+size 137884
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/handlebar_scaled.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/handlebar_scaled.stl
new file mode 100644
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--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/handlebar_scaled.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a9a6afaa92785fbd32d81e3a5aba4280eee70f79d9855f5c92f418aa40cdc4
+size 202184
diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/wheel_axels.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/wheel_axels.stl
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diff --git a/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/wheel_scaled.stl b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/wheel_scaled.stl
new file mode 100644
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--- /dev/null
+++ b/objects/outdoor_objects/retrieved/urdf/mn7xrp1ns4oarp3ub7as/files/wheel_scaled.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 202884