diff --git a/assets/urdf/Phone/103251/textured_objs/original-100.mtl b/assets/urdf/Phone/103251/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-100.obj b/assets/urdf/Phone/103251/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..665b009a3bbaea221b8433020fc5ae6151f1c481
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-100.obj
@@ -0,0 +1,894 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-101.obj b/assets/urdf/Phone/103251/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bfdb9dc1a5f0b45e91f5338ad522cbbd0b8f7d98
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-101.obj
@@ -0,0 +1,894 @@
+# SSTK version 0.8.0
+# 101
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-102.mtl b/assets/urdf/Phone/103251/textured_objs/original-102.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-102.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-102.obj b/assets/urdf/Phone/103251/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afe81a514d2faec4a13ac5ed63fd54bf6c2d9b1d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-102.obj
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+# SSTK version 0.8.0
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-104.mtl b/assets/urdf/Phone/103251/textured_objs/original-104.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-104.obj b/assets/urdf/Phone/103251/textured_objs/original-104.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-105.mtl b/assets/urdf/Phone/103251/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-105.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-105.obj b/assets/urdf/Phone/103251/textured_objs/original-105.obj
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index 0000000000000000000000000000000000000000..cccc63d4cd654812ccf9ae5539d07b3e08d6e252
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-108.mtl b/assets/urdf/Phone/103251/textured_objs/original-108.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-108.obj b/assets/urdf/Phone/103251/textured_objs/original-108.obj
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index 0000000000000000000000000000000000000000..1bf115e6192d71c4aeae9c66998bfd60b97089c4
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-109.mtl b/assets/urdf/Phone/103251/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-109.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-109.obj b/assets/urdf/Phone/103251/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7d1cc94dc35707504143a82b009e8467f61575
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-109.obj
@@ -0,0 +1,894 @@
+# SSTK version 0.8.0
+# 109
+mtllib original-109.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-110.mtl b/assets/urdf/Phone/103251/textured_objs/original-110.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-110.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-111.mtl b/assets/urdf/Phone/103251/textured_objs/original-111.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-111.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-111.obj b/assets/urdf/Phone/103251/textured_objs/original-111.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8474d311ada5983002e084725b26ba874734482
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-111.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-112.mtl b/assets/urdf/Phone/103251/textured_objs/original-112.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-112.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-112.obj b/assets/urdf/Phone/103251/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1c53f8e9fb56791fb160a56a6ee616fb84b43e4
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-112.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-113.mtl b/assets/urdf/Phone/103251/textured_objs/original-113.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-113.obj b/assets/urdf/Phone/103251/textured_objs/original-113.obj
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index 0000000000000000000000000000000000000000..91d03e9ec6d6746f4dba3007b28c90a99de74b04
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-114.mtl b/assets/urdf/Phone/103251/textured_objs/original-114.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-114.obj b/assets/urdf/Phone/103251/textured_objs/original-114.obj
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index 0000000000000000000000000000000000000000..c4ba80957ed9886246bb5c17253730ad3d5deca8
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-116.mtl b/assets/urdf/Phone/103251/textured_objs/original-116.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-116.obj b/assets/urdf/Phone/103251/textured_objs/original-116.obj
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index 0000000000000000000000000000000000000000..163d01f460b6624677f1e1232b4244c589125a6b
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-118.mtl b/assets/urdf/Phone/103251/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-118.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-118.obj b/assets/urdf/Phone/103251/textured_objs/original-118.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a4561688bee3775f31cb20b45507686048962f4
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-118.obj
@@ -0,0 +1,894 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-119.mtl b/assets/urdf/Phone/103251/textured_objs/original-119.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-119.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-119.obj b/assets/urdf/Phone/103251/textured_objs/original-119.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9502c89624e2596e6ac213bab0a3ad5847737f66
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-119.obj
@@ -0,0 +1,894 @@
+# SSTK version 0.8.0
+# 119
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-120.obj b/assets/urdf/Phone/103251/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0537937c3a37d742309b007751d3ec72db310dc0
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-120.obj
@@ -0,0 +1,894 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-121.mtl b/assets/urdf/Phone/103251/textured_objs/original-121.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-121.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-122.mtl b/assets/urdf/Phone/103251/textured_objs/original-122.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-122.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-122.obj b/assets/urdf/Phone/103251/textured_objs/original-122.obj
new file mode 100644
index 0000000000000000000000000000000000000000..87616b5444c9e33a745d8582e2f23deba72fe8ad
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-122.obj
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+# SSTK version 0.8.0
+# 122
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-123.mtl b/assets/urdf/Phone/103251/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-123.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-124.obj b/assets/urdf/Phone/103251/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..761db9b8d68934609da90935cbdd022f481ecf2a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-124.obj
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+# SSTK version 0.8.0
+# 124
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new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-126.mtl b/assets/urdf/Phone/103251/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-126.obj b/assets/urdf/Phone/103251/textured_objs/original-126.obj
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index 0000000000000000000000000000000000000000..0feb0e4d0c06c7bad9f9d110945b3d99aecef28f
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-127.mtl b/assets/urdf/Phone/103251/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..57e37810cae8c39ca293099358f820fe38080553
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-127.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-127.obj b/assets/urdf/Phone/103251/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..358261f45747ea7b86958ff6863f392c62503ee5
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-127.obj
@@ -0,0 +1,201 @@
+# SSTK version 0.8.0
+# 127
+mtllib original-127.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-128.obj b/assets/urdf/Phone/103251/textured_objs/original-128.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e329bcb819e50a5323d91a34f8993d2758696c00
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-128.obj
@@ -0,0 +1,225 @@
+# SSTK version 0.8.0
+# 128
+mtllib original-128.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-129.mtl b/assets/urdf/Phone/103251/textured_objs/original-129.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-129.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+newmtl material_1_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-13.mtl b/assets/urdf/Phone/103251/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-13.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-13.obj b/assets/urdf/Phone/103251/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4a9a850a280e078087d9f83d75a2c7b12ae96b6
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-13.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-130.mtl b/assets/urdf/Phone/103251/textured_objs/original-130.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-130.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-130.obj b/assets/urdf/Phone/103251/textured_objs/original-130.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003d7d3da5a7e54132c0cbe198cdaeaac9a1ccf2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-130.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 130
+mtllib original-130.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-131.mtl b/assets/urdf/Phone/103251/textured_objs/original-131.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-131.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-131.obj b/assets/urdf/Phone/103251/textured_objs/original-131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d722fbbf29ae4c016858d01f5731e8b9637d5a66
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-131.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 131
+mtllib original-131.mtl
+o mesh67/mesh67-geometry/material_3/component_3#mesh67-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-132.obj b/assets/urdf/Phone/103251/textured_objs/original-132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6864279e2396e450745534be1d09d429d4cc9b9d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-132.obj
@@ -0,0 +1,8473 @@
+# SSTK version 0.8.0
+# 132
+mtllib original-132.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-133.mtl b/assets/urdf/Phone/103251/textured_objs/original-133.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-133.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+
+newmtl material_1_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-133.obj b/assets/urdf/Phone/103251/textured_objs/original-133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd193e520f364dce0221e0038c2379419afd298a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-133.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-135.mtl b/assets/urdf/Phone/103251/textured_objs/original-135.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-135.obj b/assets/urdf/Phone/103251/textured_objs/original-135.obj
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index 0000000000000000000000000000000000000000..c1d42aed4952ae22b93cc431c4856c6e33c74ea0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-136.mtl b/assets/urdf/Phone/103251/textured_objs/original-136.mtl
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index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-136.obj b/assets/urdf/Phone/103251/textured_objs/original-136.obj
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index 0000000000000000000000000000000000000000..43f24be462e5650fafb3e8530b31c85726c4d0f3
--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-137.mtl b/assets/urdf/Phone/103251/textured_objs/original-137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-137.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-137.obj b/assets/urdf/Phone/103251/textured_objs/original-137.obj
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index 0000000000000000000000000000000000000000..ed16e8207bf5f10f793125439ca31b6e3bec1827
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-137.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-138.mtl b/assets/urdf/Phone/103251/textured_objs/original-138.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-138.obj b/assets/urdf/Phone/103251/textured_objs/original-138.obj
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index 0000000000000000000000000000000000000000..fedcafdcbdb58dcd81186b51eb8dfa21eeb416e4
--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-139.mtl b/assets/urdf/Phone/103251/textured_objs/original-139.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f598c77abe1598164a5d65005872ffa925c7fcbe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-139.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+Kd 0.4470588235294118 0.4470588235294118 0.4470588235294118 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-14.mtl b/assets/urdf/Phone/103251/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-14.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-14.obj b/assets/urdf/Phone/103251/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ab6d380b6b21e897750a0e698ee47e85f8ef4c2f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-14.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-140.mtl b/assets/urdf/Phone/103251/textured_objs/original-140.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-140.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-140.obj b/assets/urdf/Phone/103251/textured_objs/original-140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13af2bbac7cbfcfc3db659551602bca1f2cb458
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-140.obj
@@ -0,0 +1,633 @@
+# SSTK version 0.8.0
+# 140
+mtllib original-140.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-141.mtl b/assets/urdf/Phone/103251/textured_objs/original-141.mtl
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index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-141.obj b/assets/urdf/Phone/103251/textured_objs/original-141.obj
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index 0000000000000000000000000000000000000000..76bb3d1b8928498e1a07c3ea7d5c97fe59e59b07
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-143.mtl b/assets/urdf/Phone/103251/textured_objs/original-143.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-144.obj b/assets/urdf/Phone/103251/textured_objs/original-144.obj
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index 0000000000000000000000000000000000000000..260378de1237b1dd8b41a05b968c8ebb92fb2fa3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-145.obj b/assets/urdf/Phone/103251/textured_objs/original-145.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd2112a89eb4fdf52b543876b3110c7a197a1e3c
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-145.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-146.obj b/assets/urdf/Phone/103251/textured_objs/original-146.obj
new file mode 100644
index 0000000000000000000000000000000000000000..960b89dd9bc5c5775f1b3ff0b0d496dd2467a2ca
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-146.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-149.mtl b/assets/urdf/Phone/103251/textured_objs/original-149.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-15.mtl b/assets/urdf/Phone/103251/textured_objs/original-15.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-15.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-15.obj b/assets/urdf/Phone/103251/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f4ed7359aa634f53b1f279576a370af0870c3b
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-15.obj
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+# 15
+mtllib original-15.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-150.obj b/assets/urdf/Phone/103251/textured_objs/original-150.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7564b7a02b17101408dbf5aa644054fe2949e7f8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-150.obj
@@ -0,0 +1,409 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-151.obj b/assets/urdf/Phone/103251/textured_objs/original-151.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f9c8e8dab71af151d6322ad7a07fab1a7e93b28
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-151.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-152.mtl b/assets/urdf/Phone/103251/textured_objs/original-152.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-152.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
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+newmtl material_1_0
+illum 3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-152.obj b/assets/urdf/Phone/103251/textured_objs/original-152.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ffe050822e56f1966241042320f3ef727dfd674
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-152.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-153.obj b/assets/urdf/Phone/103251/textured_objs/original-153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e601d977dab6a2b654daf64f11b819ba879d028
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-153.obj
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-155.mtl b/assets/urdf/Phone/103251/textured_objs/original-155.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..44c7f239718337b36281a5998fc237c98973d013
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-155.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-156.mtl b/assets/urdf/Phone/103251/textured_objs/original-156.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ade57b3ed5aa13f450aeae9087f4695a4bf052e1
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-156.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-157.mtl b/assets/urdf/Phone/103251/textured_objs/original-157.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c333131d2982282cfbf5c0d754d2a77de2b88367
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-157.mtl
@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_2
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.png
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-157.obj b/assets/urdf/Phone/103251/textured_objs/original-157.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8bf96d94b8be857eef5e038b24152e1423be11fa
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-157.obj
@@ -0,0 +1,40 @@
+# SSTK version 0.8.0
+# 157
+mtllib original-157.mtl
+o mesh67/mesh67-geometry/material_6#mesh67-geometry
+v -0.299837 0.793962 0.032662
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-16.obj b/assets/urdf/Phone/103251/textured_objs/original-16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42e485ad64405d809c421eaadf1ca3efd7a2558f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-16.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 16
+mtllib original-16.mtl
+o mesh13/mesh13-geometry#mesh13-geometry
+v -0.174839 -0.416072 0.051287
+v -0.187765 -0.420303 0.051287
+v -0.187765 -0.416072 0.051287
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/assets/urdf/Phone/103251/textured_objs/original-160.mtl b/assets/urdf/Phone/103251/textured_objs/original-160.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-160.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-160.obj b/assets/urdf/Phone/103251/textured_objs/original-160.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d5e9867b97d2737265c37986d22eb356166fc7a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-160.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 160
+mtllib original-160.mtl
+o mesh67/mesh67-geometry/material_7/component_2#mesh67-geometry
+v -0.352351 0.410655 0.009822
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-161.mtl b/assets/urdf/Phone/103251/textured_objs/original-161.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-161.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+
+newmtl material_1_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-161.obj b/assets/urdf/Phone/103251/textured_objs/original-161.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8609232c8f2abb23dbf0ace74a1be32299767261
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-161.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 161
+mtllib original-161.mtl
+o mesh67/mesh67-geometry/material_7/component_3#mesh67-geometry
+v -0.264478 -0.230560 0.051112
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-162.mtl b/assets/urdf/Phone/103251/textured_objs/original-162.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-162.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
+newmtl material_1_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-163.obj b/assets/urdf/Phone/103251/textured_objs/original-163.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd38eff6f7a135a184280f6915b719d44153beb
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-163.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 163
+mtllib original-163.mtl
+o mesh67/mesh67-geometry/material_7/component_5#mesh67-geometry
+v -0.051942 -0.158711 0.051112
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+f 10/1/2 11/1/2 12/1/2
diff --git a/assets/urdf/Phone/103251/textured_objs/original-165.mtl b/assets/urdf/Phone/103251/textured_objs/original-165.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-165.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-165.obj b/assets/urdf/Phone/103251/textured_objs/original-165.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e262d3845445389d2e5c06542445cc0fa48c0a7
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-165.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 165
+mtllib original-165.mtl
+o mesh67/mesh67-geometry/material_7/component_7#mesh67-geometry
+v 0.030392 -0.129382 0.051112
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-166.obj b/assets/urdf/Phone/103251/textured_objs/original-166.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1b8ae2b6070e34a6c770f093213d88054f5179c3
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-166.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 166
+mtllib original-166.mtl
+o mesh67/mesh67-geometry/material_7/component_8#mesh67-geometry
+v 0.065621 -0.158711 0.051112
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-167.mtl b/assets/urdf/Phone/103251/textured_objs/original-167.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-167.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-168.obj b/assets/urdf/Phone/103251/textured_objs/original-168.obj
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index 0000000000000000000000000000000000000000..4e3a066b1878a4881a7a14c2fa6c689782b46379
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-168.obj
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index 0000000000000000000000000000000000000000..6319bbae1c31a5adeee486dcba60ca58d4c56fbc
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-169.obj b/assets/urdf/Phone/103251/textured_objs/original-169.obj
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--- /dev/null
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-172.mtl b/assets/urdf/Phone/103251/textured_objs/original-172.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91be66f380da6a87e06d92a428be44d60e29384f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-172.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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+
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-172.obj b/assets/urdf/Phone/103251/textured_objs/original-172.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4550e5df5c03ce685bc09397d89cda3ba71ed71b
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-172.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 172
+mtllib original-172.mtl
+o mesh67/mesh67-geometry/material_9/component_0#mesh67-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-173.mtl b/assets/urdf/Phone/103251/textured_objs/original-173.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91be66f380da6a87e06d92a428be44d60e29384f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-173.mtl
@@ -0,0 +1,14 @@
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+newmtl material_1_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-173.obj b/assets/urdf/Phone/103251/textured_objs/original-173.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12616ab6b0db2d436f02d5a5cf436dd562a057fd
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-173.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 173
+mtllib original-173.mtl
+o mesh67/mesh67-geometry/material_9/component_1#mesh67-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-174.mtl b/assets/urdf/Phone/103251/textured_objs/original-174.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..91be66f380da6a87e06d92a428be44d60e29384f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-174.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-174.obj b/assets/urdf/Phone/103251/textured_objs/original-174.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0406a2b6f506bc0255dc6497ea9d9b466006c08d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-174.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 174
+mtllib original-174.mtl
+o mesh67/mesh67-geometry/material_9/component_2#mesh67-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-175.obj b/assets/urdf/Phone/103251/textured_objs/original-175.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bddce8aaffe555b03248a058cd46a76338ced2c
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-175.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 175
+mtllib original-175.mtl
+o mesh67/mesh67-geometry/material_10/component_0#mesh67-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-18.mtl b/assets/urdf/Phone/103251/textured_objs/original-18.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-18.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-18.obj b/assets/urdf/Phone/103251/textured_objs/original-18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71138bf9617de4f9d78948c1b5e3fc15d0332db4
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-18.obj
@@ -0,0 +1,147 @@
+# SSTK version 0.8.0
+# 18
+mtllib original-18.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-19.mtl b/assets/urdf/Phone/103251/textured_objs/original-19.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-19.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-19.obj b/assets/urdf/Phone/103251/textured_objs/original-19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d4660a628b3e248181fec5a54dde7efddb11b08
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-19.obj
@@ -0,0 +1,214 @@
+# SSTK version 0.8.0
+# 19
+mtllib original-19.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-2.obj b/assets/urdf/Phone/103251/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c54c4d9ce8766efc3b827457dc56be0f137f18
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-2.obj
@@ -0,0 +1,177 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
+o mesh1/mesh1-geometry#mesh1-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-20.obj b/assets/urdf/Phone/103251/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56dfee96b46d2acc57e6e8cfd5ad49724fdad43d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-20.obj
@@ -0,0 +1,184 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o mesh16/mesh16-geometry#mesh16-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-21.mtl b/assets/urdf/Phone/103251/textured_objs/original-21.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-21.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-21.obj b/assets/urdf/Phone/103251/textured_objs/original-21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33aa28582a22d93f58476acca76031764d72ec73
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-21.obj
@@ -0,0 +1,171 @@
+# SSTK version 0.8.0
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+mtllib original-21.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-23.mtl b/assets/urdf/Phone/103251/textured_objs/original-23.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-23.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-23.obj b/assets/urdf/Phone/103251/textured_objs/original-23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a422478e673329e613cd6b4d03364539712773
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-23.obj
@@ -0,0 +1,228 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-24.obj b/assets/urdf/Phone/103251/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aee23c7233a1a893c01d343d995c042d0d1de414
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-24.obj
@@ -0,0 +1,178 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-25.mtl b/assets/urdf/Phone/103251/textured_objs/original-25.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-25.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-25.obj b/assets/urdf/Phone/103251/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f62226b2e8a7a3138c40fcf33bb326e6ffc5b7c
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-25.obj
@@ -0,0 +1,187 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-26.mtl b/assets/urdf/Phone/103251/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-28.mtl b/assets/urdf/Phone/103251/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-29.obj b/assets/urdf/Phone/103251/textured_objs/original-29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36ebbefc356edfe25d11357e49019ccd59b7a924
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-29.obj
@@ -0,0 +1,250 @@
+# SSTK version 0.8.0
+# 29
+mtllib original-29.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-3.obj b/assets/urdf/Phone/103251/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1bb8e9e461146be58de9d0e0f31f84e266e8efc
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-3.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh2/mesh2-geometry#mesh2-geometry
+v -0.044975 0.825477 -0.031063
+v -0.037500 0.821788 -0.031063
+v -0.037500 0.825477 -0.031063
+v -0.044975 0.821788 -0.031063
+vn 0 0 1
+vn 0 0 -1
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/assets/urdf/Phone/103251/textured_objs/original-31.mtl b/assets/urdf/Phone/103251/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-32.mtl b/assets/urdf/Phone/103251/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-32.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-32.obj b/assets/urdf/Phone/103251/textured_objs/original-32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f62ecb0a5bf4a8d2227756245e40041ae11de1
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-32.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 32
+mtllib original-32.mtl
+o mesh26/mesh26-geometry#mesh26-geometry
+v -0.169174 -0.502523 0.051287
+v -0.173381 -0.527346 0.051287
+v -0.173381 -0.502523 0.051287
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+vn 0 0 -1
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+usemtl material_0_0
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+f 3//2 2//2 1//2
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-34.obj b/assets/urdf/Phone/103251/textured_objs/original-34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a541f3d879475df990234327ea6b33bebaf324ef
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-34.obj
@@ -0,0 +1,177 @@
+# SSTK version 0.8.0
+# 34
+mtllib original-34.mtl
+o mesh27/mesh27-geometry#mesh27-geometry
+v -0.025446 -0.492817 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-35.obj b/assets/urdf/Phone/103251/textured_objs/original-35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8ebf37e42c80c0cdc55e43802e58f7ce68bba8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-35.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 35
+mtllib original-35.mtl
+o mesh28/mesh28-geometry#mesh28-geometry
+v 0.015762 -0.492350 0.051287
+v 0.011555 -0.497235 0.051287
+v 0.011555 -0.492350 0.051287
+v 0.015762 -0.497235 0.051287
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
diff --git a/assets/urdf/Phone/103251/textured_objs/original-36.obj b/assets/urdf/Phone/103251/textured_objs/original-36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572205da9ae2d96708294fcbf1afb2ced8213eba
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-36.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 36
+mtllib original-36.mtl
+o mesh29/mesh29-geometry#mesh29-geometry
+v 0.015762 -0.501793 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-37.mtl b/assets/urdf/Phone/103251/textured_objs/original-37.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-37.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-37.obj b/assets/urdf/Phone/103251/textured_objs/original-37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a59cdbda8071d1ad6c25cc816b104db7b9cbe22b
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-37.obj
@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 37
+mtllib original-37.mtl
+o mesh30/mesh30-geometry#mesh30-geometry
+v 0.026444 -0.492350 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-4.mtl b/assets/urdf/Phone/103251/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-4.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-4.obj b/assets/urdf/Phone/103251/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36c9daba9063ed6da61650aeea00ad45b0be95c9
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-4.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-40.obj b/assets/urdf/Phone/103251/textured_objs/original-40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33b80610485c536435752a8361d7b6db28137e85
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-40.obj
@@ -0,0 +1,256 @@
+# SSTK version 0.8.0
+# 40
+mtllib original-40.mtl
+o mesh32/mesh32-geometry#mesh32-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-41.mtl b/assets/urdf/Phone/103251/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-41.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-41.obj b/assets/urdf/Phone/103251/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4082a87a34bf6b252531d02c5735a6e64c082156
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-41.obj
@@ -0,0 +1,159 @@
+# SSTK version 0.8.0
+# 41
+mtllib original-41.mtl
+o mesh33/mesh33-geometry#mesh33-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-42.mtl b/assets/urdf/Phone/103251/textured_objs/original-42.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-42.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-42.obj b/assets/urdf/Phone/103251/textured_objs/original-42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b8e02bed470a6cf50c61d5aac326c6b81ac932a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-42.obj
@@ -0,0 +1,96 @@
+# SSTK version 0.8.0
+# 42
+mtllib original-42.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-43.mtl b/assets/urdf/Phone/103251/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-43.obj b/assets/urdf/Phone/103251/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c0043a35c6efb8360601c2ce2507feb9e0f0954
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-43.obj
@@ -0,0 +1,193 @@
+# SSTK version 0.8.0
+# 43
+mtllib original-43.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-45.mtl b/assets/urdf/Phone/103251/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-45.obj b/assets/urdf/Phone/103251/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4a373852c0046b6889fa4e08e6ba86568e17df8d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-45.obj
@@ -0,0 +1,54 @@
+# SSTK version 0.8.0
+# 45
+mtllib original-45.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-46.mtl b/assets/urdf/Phone/103251/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-46.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-47.mtl b/assets/urdf/Phone/103251/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+d 1
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+Kd 0 0 1 
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-48.mtl b/assets/urdf/Phone/103251/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-48.obj b/assets/urdf/Phone/103251/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0a336ccf9ef044b1a55d4ac4e647642b3e8c2ce
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-48.obj
@@ -0,0 +1,63 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o mesh39/mesh39-geometry#mesh39-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-49.obj b/assets/urdf/Phone/103251/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248e1a3ee3bdeded6b0ce9336bb3c6843c6f3906
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-49.obj
@@ -0,0 +1,195 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-51.mtl b/assets/urdf/Phone/103251/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-52.mtl b/assets/urdf/Phone/103251/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-52.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-52.obj b/assets/urdf/Phone/103251/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b9632874b90b1dcfca40a4698e34d8a69aba1fe
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-52.obj
@@ -0,0 +1,72 @@
+# SSTK version 0.8.0
+# 52
+mtllib original-52.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-53.mtl b/assets/urdf/Phone/103251/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-53.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-53.obj b/assets/urdf/Phone/103251/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d303e2f121401353703ac1bcbbde5bf03795fda0
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-53.obj
@@ -0,0 +1,93 @@
+# SSTK version 0.8.0
+# 53
+mtllib original-53.mtl
+o mesh43/mesh43-geometry#mesh43-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-54.mtl b/assets/urdf/Phone/103251/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-56.mtl b/assets/urdf/Phone/103251/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-56.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-57.mtl b/assets/urdf/Phone/103251/textured_objs/original-57.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-57.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-57.obj b/assets/urdf/Phone/103251/textured_objs/original-57.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55ce130c00b432570dcea16381d620697c18d932
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-57.obj
@@ -0,0 +1,57 @@
+# SSTK version 0.8.0
+# 57
+mtllib original-57.mtl
+o mesh46/mesh46-geometry#mesh46-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-58.mtl b/assets/urdf/Phone/103251/textured_objs/original-58.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-58.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-58.obj b/assets/urdf/Phone/103251/textured_objs/original-58.obj
new file mode 100644
index 0000000000000000000000000000000000000000..234c5cc8ca5641f84edcde7c7b930a26fcc38d14
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-58.obj
@@ -0,0 +1,48 @@
+# SSTK version 0.8.0
+# 58
+mtllib original-58.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-59.mtl b/assets/urdf/Phone/103251/textured_objs/original-59.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-59.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-6.mtl b/assets/urdf/Phone/103251/textured_objs/original-6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ff4a7d886aa3b1717ee912da130acacb00104
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-6.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-60.mtl b/assets/urdf/Phone/103251/textured_objs/original-60.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-60.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-60.obj b/assets/urdf/Phone/103251/textured_objs/original-60.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1abf57c14b17483042d7008d82da9f9c74eb74b1
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-60.obj
@@ -0,0 +1,42 @@
+# SSTK version 0.8.0
+# 60
+mtllib original-60.mtl
+o mesh49/mesh49-geometry#mesh49-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-62.mtl b/assets/urdf/Phone/103251/textured_objs/original-62.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-62.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-62.obj b/assets/urdf/Phone/103251/textured_objs/original-62.obj
new file mode 100644
index 0000000000000000000000000000000000000000..39a325edb6e590c4c25b31f67649de5933050d9e
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-62.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 62
+mtllib original-62.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-63.mtl b/assets/urdf/Phone/103251/textured_objs/original-63.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-63.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-64.obj b/assets/urdf/Phone/103251/textured_objs/original-64.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d785bd7cb2a535ea789e56e57da1be0a9a37fd0d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-64.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 64
+mtllib original-64.mtl
+o mesh52/mesh52-geometry#mesh52-geometry
+v -0.197523 -0.715467 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-65.obj b/assets/urdf/Phone/103251/textured_objs/original-65.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f0ebfcad7c29c8882510f656817fd177d28065f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-65.obj
@@ -0,0 +1,49 @@
+# SSTK version 0.8.0
+# 65
+mtllib original-65.mtl
+o mesh53/mesh53-geometry#mesh53-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-67.obj b/assets/urdf/Phone/103251/textured_objs/original-67.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64f35f434e109538a69b4a9a1d13d5b55aa8ebe2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-67.obj
@@ -0,0 +1,199 @@
+# SSTK version 0.8.0
+# 67
+mtllib original-67.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-68.obj b/assets/urdf/Phone/103251/textured_objs/original-68.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c92fcbb58ef9dadae108a5dbd47511d2e0ec1ab1
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-68.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 68
+mtllib original-68.mtl
+o mesh55/mesh55-geometry#mesh55-geometry
+v 0.020939 -0.731546 0.051287
+v -0.006946 -0.734585 0.051287
+v -0.006946 -0.731546 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-69.mtl b/assets/urdf/Phone/103251/textured_objs/original-69.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-69.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-69.obj b/assets/urdf/Phone/103251/textured_objs/original-69.obj
new file mode 100644
index 0000000000000000000000000000000000000000..549c1b78706927e978092d7fe1b413f58d693c00
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-69.obj
@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 69
+mtllib original-69.mtl
+o mesh56/mesh56-geometry#mesh56-geometry
+v 0.047562 -0.731546 0.051287
+v 0.019677 -0.734585 0.051287
+v 0.019677 -0.731546 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-7.obj b/assets/urdf/Phone/103251/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c4065770eb4576a54da33efef0dbfa2241d36573
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-7.obj
@@ -0,0 +1,51 @@
+# SSTK version 0.8.0
+# 7
+mtllib original-7.mtl
+o mesh6/mesh6-geometry#mesh6-geometry
+v -0.246763 0.835538 -0.031063
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-72.mtl b/assets/urdf/Phone/103251/textured_objs/original-72.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-72.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-73.mtl b/assets/urdf/Phone/103251/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-73.obj b/assets/urdf/Phone/103251/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ee174b87c135a05d66b17cebcc95f50dee77232
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-73.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
+o mesh59/mesh59-geometry#mesh59-geometry
+v 0.225801 -0.697883 0.051287
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-74.mtl b/assets/urdf/Phone/103251/textured_objs/original-74.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-74.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-76.mtl b/assets/urdf/Phone/103251/textured_objs/original-76.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-76.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-77.obj b/assets/urdf/Phone/103251/textured_objs/original-77.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7905df05983e81d83f1b0a9dcbc2e098a38768a1
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-77.obj
@@ -0,0 +1,69 @@
+# SSTK version 0.8.0
+# 77
+mtllib original-77.mtl
+o mesh63/mesh63-geometry#mesh63-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-79.mtl b/assets/urdf/Phone/103251/textured_objs/original-79.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-79.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-80.mtl b/assets/urdf/Phone/103251/textured_objs/original-80.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-80.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-80.obj b/assets/urdf/Phone/103251/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bc1ecc8e8c0b4fe45be98707107d1eab689b7aea
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-80.obj
@@ -0,0 +1,213 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
+o mesh65/mesh65-geometry#mesh65-geometry
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-81.mtl b/assets/urdf/Phone/103251/textured_objs/original-81.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-81.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-83.obj b/assets/urdf/Phone/103251/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e5b734a854b6fb623926ef5449834650ff90b2d
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-83.obj
@@ -0,0 +1,3229 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-84.mtl b/assets/urdf/Phone/103251/textured_objs/original-84.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6341cad7e019e7e7d4ddad06b78224a1a93deb0a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-84.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.22745098039215686 0.22745098039215686 0.22745098039215686 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-84.obj b/assets/urdf/Phone/103251/textured_objs/original-84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a32e6b15b4433550086dd47aa5feedc3ccf5ba9c
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-84.obj
@@ -0,0 +1,393 @@
+# SSTK version 0.8.0
+# 84
+mtllib original-84.mtl
+o mesh67/mesh67-geometry/material_0/component_1#mesh67-geometry
+v 0.109837 0.842688 0.036762
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-85.obj b/assets/urdf/Phone/103251/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41d85a4199d92a6413e5c2d238e0771fc03e5e5b
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-85.obj
@@ -0,0 +1,25 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
+o mesh67/mesh67-geometry/material_0/component_2#mesh67-geometry
+v 0.073081 0.821651 0.032662
+v -0.045821 0.836002 0.032662
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+usemtl material_0_0
+f 1/1/1 2/1/1 3/1/1
+f 4/1/1 5/1/1 6/1/1
+usemtl material_1_0
+f 7/1/2 8/1/2 9/1/2
+f 10/1/2 11/1/2 12/1/2
diff --git a/assets/urdf/Phone/103251/textured_objs/original-86.obj b/assets/urdf/Phone/103251/textured_objs/original-86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9889d04ef80e1013ad5d2ef28243ab9c593c13f
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-86.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 86
+mtllib original-86.mtl
+o mesh67/mesh67-geometry/material_0/component_3#mesh67-geometry
+v 0.211248 0.831479 0.036762
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-87.obj b/assets/urdf/Phone/103251/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93578964729675059aeeab22bdc681ebe894da32
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-87.obj
@@ -0,0 +1,185 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-89.mtl b/assets/urdf/Phone/103251/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-9.mtl b/assets/urdf/Phone/103251/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-9.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-90.mtl b/assets/urdf/Phone/103251/textured_objs/original-90.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-90.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-90.obj b/assets/urdf/Phone/103251/textured_objs/original-90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f387741f9d65c9b2931bf87ec10d4356adcc9b55
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-90.obj
@@ -0,0 +1,74 @@
+# SSTK version 0.8.0
+# 90
+mtllib original-90.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-91.mtl b/assets/urdf/Phone/103251/textured_objs/original-91.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-91.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-91.obj b/assets/urdf/Phone/103251/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e487232a72bee061e64ae76e6dee1008cdf104ea
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-91.obj
@@ -0,0 +1,74 @@
+# SSTK version 0.8.0
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+mtllib original-91.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-92.mtl b/assets/urdf/Phone/103251/textured_objs/original-92.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-92.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-92.obj b/assets/urdf/Phone/103251/textured_objs/original-92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a08f5857b325cfcf4bb662c5a1dbeb8ddee40322
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-92.obj
@@ -0,0 +1,894 @@
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-93.mtl b/assets/urdf/Phone/103251/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Phone/103251/textured_objs/original-93.obj b/assets/urdf/Phone/103251/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9271c1cfdeda25c5bdfcaac76061471d55f07fd2
--- /dev/null
+++ b/assets/urdf/Phone/103251/textured_objs/original-93.obj
@@ -0,0 +1,414 @@
+# SSTK version 0.8.0
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-94.obj b/assets/urdf/Phone/103251/textured_objs/original-94.obj
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index 0000000000000000000000000000000000000000..aeea58690215ac0d1cd9d92fa47c6dffbf49750b
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-96.mtl b/assets/urdf/Phone/103251/textured_objs/original-96.mtl
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-96.obj b/assets/urdf/Phone/103251/textured_objs/original-96.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Phone/103251/textured_objs/original-98.obj b/assets/urdf/Phone/103251/textured_objs/original-98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d100cd6735d3cbab3d9d03a19b50fcc0f8248c0e
--- /dev/null
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-104.mtl b/assets/urdf/Phone/103917/textured_objs/original-104.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-104.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-108.mtl b/assets/urdf/Phone/103917/textured_objs/original-108.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-108.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-108.obj b/assets/urdf/Phone/103917/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7f6ddc4c2ae1e9dbbcce04a3b3b0db7d6979304
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-108.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-112.obj b/assets/urdf/Phone/103917/textured_objs/original-112.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d144d196c81dcc8961ba99274000e05999f2521
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-112.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 112
+mtllib original-112.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-113.obj b/assets/urdf/Phone/103917/textured_objs/original-113.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a07a2c7abe626873ca21be84e1846e0e6f63887b
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-113.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
+# 113
+mtllib original-113.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-116.mtl b/assets/urdf/Phone/103917/textured_objs/original-116.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-116.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-118.mtl b/assets/urdf/Phone/103917/textured_objs/original-118.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-118.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-120.obj b/assets/urdf/Phone/103917/textured_objs/original-120.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e28e5aea0334daa3c62f6a3780df75867ec9676
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-120.obj
@@ -0,0 +1,3568 @@
+# SSTK version 0.8.0
+# 120
+mtllib original-120.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-132.obj b/assets/urdf/Phone/103917/textured_objs/original-132.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778d61c9168f9422c5a7ffcbd34832df12a1d902
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-132.obj
@@ -0,0 +1,2336 @@
+# SSTK version 0.8.0
+# 132
+mtllib original-132.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-137.mtl b/assets/urdf/Phone/103917/textured_objs/original-137.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-137.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-14.obj b/assets/urdf/Phone/103917/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db1ff690cf40aef5c99427c7f8d6ea1ca9f7bf50
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-14.obj
@@ -0,0 +1,335 @@
+# SSTK version 0.8.0
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+mtllib original-14.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-149.mtl b/assets/urdf/Phone/103917/textured_objs/original-149.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-149.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-15.obj b/assets/urdf/Phone/103917/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b48831e2ab1fc98f553b5d3b547d580dbebcd89
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-15.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-152.mtl b/assets/urdf/Phone/103917/textured_objs/original-152.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4f94b4730ae50ac3fe81a75f3aa0e7e2729e00b2
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-152.mtl
@@ -0,0 +1,14 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-153.obj b/assets/urdf/Phone/103917/textured_objs/original-153.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a487906e844534c6a0c3e492aaba52f4c65912
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-153.obj
@@ -0,0 +1,72 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-168.obj b/assets/urdf/Phone/103917/textured_objs/original-168.obj
new file mode 100644
index 0000000000000000000000000000000000000000..294a2452a690e6ac07d7f3436de687d122420951
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-168.obj
@@ -0,0 +1,204 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-171.obj b/assets/urdf/Phone/103917/textured_objs/original-171.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3546b9161f923dc5e0df331cf58c9706bdef9993
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-171.obj
@@ -0,0 +1,800 @@
+# SSTK version 0.8.0
+# 171
+mtllib original-171.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-172.mtl b/assets/urdf/Phone/103917/textured_objs/original-172.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..085c9ef36bbb994230a703aeaafc4f7cf4517948
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-172.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-179.mtl b/assets/urdf/Phone/103917/textured_objs/original-179.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..98198f0249b9f187a852592351109c3606ecca68
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-179.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-194.mtl b/assets/urdf/Phone/103917/textured_objs/original-194.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49dd578989bb8548cf41906f5dbe5ac26032a8af
--- /dev/null
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-196.obj b/assets/urdf/Phone/103917/textured_objs/original-196.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c37c9160e835c0a5f4f5e410c82d8b27ab171227
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-196.obj
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-210.obj b/assets/urdf/Phone/103917/textured_objs/original-210.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2239f4e6978881192ac355caf56f1cfcf53a1848
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-210.obj
@@ -0,0 +1,268 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-3.obj b/assets/urdf/Phone/103917/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20a1a17933f64d4cc536dfdd1abdbe1ab4176390
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-3.obj
@@ -0,0 +1,155 @@
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-45.mtl b/assets/urdf/Phone/103917/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-45.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-46.mtl b/assets/urdf/Phone/103917/textured_objs/original-46.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-46.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-52.obj b/assets/urdf/Phone/103917/textured_objs/original-52.obj
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index 0000000000000000000000000000000000000000..e0304db986079bdeccd07df1d76348105f1355c7
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-52.obj
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-54.mtl b/assets/urdf/Phone/103917/textured_objs/original-54.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bebb86a53f26223c9ce3fe553e8b9db22a4ac8e8
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-54.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Phone/103917/textured_objs/original-73.mtl b/assets/urdf/Phone/103917/textured_objs/original-73.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-73.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-73.obj b/assets/urdf/Phone/103917/textured_objs/original-73.obj
new file mode 100644
index 0000000000000000000000000000000000000000..963e0424ed1521f42b51db99e943243c3239c696
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-73.obj
@@ -0,0 +1,189 @@
+# SSTK version 0.8.0
+# 73
+mtllib original-73.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-80.obj b/assets/urdf/Phone/103917/textured_objs/original-80.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00688e45428276bf5ce419ff20f1ef3fc7767328
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-80.obj
@@ -0,0 +1,159 @@
+# SSTK version 0.8.0
+# 80
+mtllib original-80.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-85.obj b/assets/urdf/Phone/103917/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cf86bdc2e57604a990b7d92bd46929282ebb640
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-85.obj
@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 85
+mtllib original-85.mtl
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-87.obj b/assets/urdf/Phone/103917/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72d156e66f84b608efd4be919c93e78464077b8f
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-87.obj
@@ -0,0 +1,423 @@
+# SSTK version 0.8.0
+# 87
+mtllib original-87.mtl
+o mesh164/mesh164-geometry#mesh164-geometry
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diff --git a/assets/urdf/Phone/103917/textured_objs/original-93.mtl b/assets/urdf/Phone/103917/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Phone/103917/textured_objs/original-93.mtl
@@ -0,0 +1,7 @@
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+
diff --git a/assets/urdf/Window/102805/bounding_box.json b/assets/urdf/Window/102805/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3a74c39c9390c7a4bcb971e3e14eaf1d55bf36
--- /dev/null
+++ b/assets/urdf/Window/102805/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.738569, -0.702482, -0.033543], "max": [0.678355, 0.714441, 0.037303]}
\ No newline at end of file
diff --git a/assets/urdf/Window/102805/grasp_poses.json b/assets/urdf/Window/102805/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b81a7d48f9dddf2fc5456ebe2335fd44490cf035
--- /dev/null
+++ b/assets/urdf/Window/102805/grasp_poses.json
@@ -0,0 +1,101 @@
+{
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+}
\ No newline at end of file
diff --git a/assets/urdf/Window/102805/meta.json b/assets/urdf/Window/102805/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..214797a256036c415b73bad07bd93a10ea2214e1
--- /dev/null
+++ b/assets/urdf/Window/102805/meta.json
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+{"user_id": "KeplerSN", "model_cat": "Window", "model_id": "15479c9e-650a-4b4d-8c6a-c3173d020304", "version": "2", "anno_id": "2805", "time_in_sec": "997"}
\ No newline at end of file
diff --git a/assets/urdf/Window/102805/mobility.urdf b/assets/urdf/Window/102805/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..699bd54035a5641d0f5cf34d2f9bc8540bad2194
--- /dev/null
+++ b/assets/urdf/Window/102805/mobility.urdf
@@ -0,0 +1,3734 @@
+<?xml version="1.0" ?>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
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+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-551.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-27.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-51.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-55.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-50.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-31.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-37.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-48.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-56.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-23.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-58.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-405.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-38.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-68.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-34.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-91.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-457.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-92.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-42.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-79.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-24.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-88.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-47.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-53.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-84.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-413.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-57.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_3" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Window/102805/mobility_v2.json b/assets/urdf/Window/102805/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..35de774639289ba359f6475ba4188a7ef052ac25
--- /dev/null
+++ b/assets/urdf/Window/102805/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 4, "joint": "slider", "name": "translation", "parts": [{"id": 1, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": -0.9279999999999999, "b": 0, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 4, "joint": "slider", "name": "translation", "parts": [{"id": 2, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": -0.45199999999999996, "b": 0.45199999999999996, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": 4, "joint": "slider", "name": "translation", "parts": [{"id": 3, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": -0.016000000000000014, "b": 0.8959999999999999, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 3, "parent": -1, "joint": "junk", "name": "outlier", "parts": [{"id": 4, "name": "outlier", "children": []}], "jointData": {}}, {"id": 4, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Window/102805/model_data.json b/assets/urdf/Window/102805/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..829cbd5a2dfe2dd65ae0d93cb544850cf83791cb
--- /dev/null
+++ b/assets/urdf/Window/102805/model_data.json
@@ -0,0 +1,127 @@
+{
+    "scale": 1.5,
+    "transform_matrix": [
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+            0.0,
+            0.0,
+            1.0
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+    ],
+    "init_qpos": [],
+    "grasp_parts": {
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+                "matrix": [
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+}
\ No newline at end of file
diff --git a/assets/urdf/Window/102805/result.json b/assets/urdf/Window/102805/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..0119a4c27a35bec7d55d8e4cf6d766ec7409d491
--- /dev/null
+++ b/assets/urdf/Window/102805/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Window/102805/result_original.json b/assets/urdf/Window/102805/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..360facc1917053c5e1bc08b8d179d2400b9f0f05
--- /dev/null
+++ b/assets/urdf/Window/102805/result_original.json
@@ -0,0 +1 @@
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diff --git a/assets/urdf/Window/102805/semantics.txt b/assets/urdf/Window/102805/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c525cc686a14992f5ed13fc56ca61493cf33dbe4
--- /dev/null
+++ b/assets/urdf/Window/102805/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider translation_window
+link_1 slider translation_window
+link_2 slider translation_window
+link_3 static window_frame
diff --git a/assets/urdf/Window/102896/bounding_box.json b/assets/urdf/Window/102896/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..40826b95adbd71120328ca303b660167ddd57530
--- /dev/null
+++ b/assets/urdf/Window/102896/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.674822, -0.757965, -0.065363], "max": [0.670214, 0.780567, 0.07326]}
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diff --git a/assets/urdf/Window/102896/grasp_poses.json b/assets/urdf/Window/102896/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..16833ab9d47e2235b9a87f8ccbbb0d8443b35d01
--- /dev/null
+++ b/assets/urdf/Window/102896/grasp_poses.json
@@ -0,0 +1,132 @@
+{
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diff --git a/assets/urdf/Window/102896/meta.json b/assets/urdf/Window/102896/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8398a9fffb04ad2cb023dd5eac6fedb90a5ed6
--- /dev/null
+++ b/assets/urdf/Window/102896/meta.json
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diff --git a/assets/urdf/Window/102896/mobility.urdf b/assets/urdf/Window/102896/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2e645f01bd118a69d5cfa7174418e0696c3563e6
--- /dev/null
+++ b/assets/urdf/Window/102896/mobility.urdf
@@ -0,0 +1,2021 @@
+<?xml version="1.0" ?>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-22.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-117.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-107.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-104.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-128.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-130.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-112.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-106.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-16.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-8.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-125.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-120.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-114.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-113.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-15.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-116.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-122.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-108.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-133.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-11.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-18.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-17.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-102.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-20.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-115.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-105.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-101.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-121.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-19.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Window/102896/mobility_v2.json b/assets/urdf/Window/102896/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..da80db192bd5dd8353092cf8933b8161ea156b1a
--- /dev/null
+++ b/assets/urdf/Window/102896/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 1, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": -0.6080000000000001, "b": -0.008000000000000007, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 2, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": 0.008000000000000007, "b": 0.6240000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Window/102896/model_data.json b/assets/urdf/Window/102896/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc4b87cd5b5679c34a5aed8120855f031e19cd8
--- /dev/null
+++ b/assets/urdf/Window/102896/model_data.json
@@ -0,0 +1,158 @@
+{
+    "scale": 1.5,
+    "transform_matrix": [
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+            0.0,
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+}
\ No newline at end of file
diff --git a/assets/urdf/Window/102896/result.json b/assets/urdf/Window/102896/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..f813fbe9dc4eb8125de130be0633a2b74f5be207
--- /dev/null
+++ b/assets/urdf/Window/102896/result.json
@@ -0,0 +1 @@
+[{"text": "Window", "name": "Window", "id": 0, "children": [{"text": "translation", "name": "translation", "id": 1, "objs": ["original-149", "original-145", "original-2", "original-150", "original-203", "original-204", "original-202", "original-166", "original-167", "original-168", "original-196", "original-194", "original-195", "original-191", "original-190", "original-192", "original-188", "original-187", "original-155", "original-186", "original-172", "original-170", "original-171", "original-148", "original-147", "original-151", "original-146", "original-152", "original-143", "original-139", "original-142", "original-141", "original-137", "original-136", "original-138", "original-140", "original-198", "original-184", "original-182", "original-183", "original-199", "original-200", "original-162", "original-164", "original-163", "original-180", "original-178", "original-179", "original-176", "original-174", "original-156", "original-175", "original-160", "original-159", "original-158"]}, {"text": "translation", "name": "translation", "id": 2, "objs": ["original-67", "original-68", "original-51", "original-52", "original-89", "original-87", "original-88", "original-73", "original-71", "original-72", "original-69", "original-53", "original-65", "original-63", "original-64", "original-49", "original-47", "original-45", "original-48", "original-30", "original-207", "original-31", "original-26", "original-97", "original-27", "original-25", "original-29", "original-83", "original-55", "original-57", "original-80", "original-93", "original-56", "original-81", "original-79", "original-77", "original-75", "original-76", "original-92", "original-91", "original-60", "original-61", "original-59", "original-37", "original-35", "original-36", "original-40", "original-206", "original-39", "original-34", "original-41", "original-85", "original-44", "original-84", "original-38", "original-32", "original-28"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-103", "original-100", "original-123", "original-21", "original-132", "original-126", "original-119", "original-124", "original-96", "original-22", "original-117", "original-110", "original-107", "original-104", "original-4", "original-3", "original-128", "original-130", "original-112", "original-106", "original-16", "original-8", "original-109", "original-13", "original-9", "original-125", "original-120", "original-5", "original-114", "original-113", "original-111", "original-15", "original-116", "original-122", "original-108", "original-99", "original-127", "original-133", "original-11", "original-131", "original-18", "original-118", "original-17", "original-12", "original-102", "original-20", "original-115", "original-95", "original-105", "original-101", "original-121", "original-10", "original-129", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/102896/result_original.json b/assets/urdf/Window/102896/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd89b8e7fc20a3eb1a99b0ec1462c6444917270
--- /dev/null
+++ b/assets/urdf/Window/102896/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Window", "text": "Window", "children": [{"id": 1, "name": "translation", "text": "translation", "objs": ["original-149", "original-145", "original-2", "original-150", "original-203", "original-204", "original-202", "original-166", "original-167", "original-168", "original-196", "original-194", "original-195", "original-191", "original-190", "original-192", "original-188", "original-187", "original-155", "original-186", "original-172", "original-170", "original-171", "original-148", "original-147", "original-151", "original-146", "original-152", "original-143", "original-139", "original-142", "original-141", "original-137", "original-136", "original-138", "original-140", "original-198", "original-184", "original-182", "original-183", "original-199", "original-200", "original-162", "original-164", "original-163", "original-180", "original-178", "original-179", "original-176", "original-174", "original-156", "original-175", "original-160", "original-159", "original-158"]}, {"id": 2, "name": "translation", "text": "translation", "objs": ["original-67", "original-68", "original-51", "original-52", "original-89", "original-87", "original-88", "original-73", "original-71", "original-72", "original-69", "original-53", "original-65", "original-63", "original-64", "original-49", "original-47", "original-45", "original-48", "original-30", "original-207", "original-31", "original-26", "original-97", "original-27", "original-25", "original-29", "original-83", "original-55", "original-57", "original-80", "original-93", "original-56", "original-81", "original-79", "original-77", "original-75", "original-76", "original-92", "original-91", "original-60", "original-61", "original-59", "original-37", "original-35", "original-36", "original-40", "original-206", "original-39", "original-34", "original-41", "original-85", "original-44", "original-84", "original-38", "original-32", "original-28"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/102896/semantics.txt b/assets/urdf/Window/102896/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec0e9e0e7f0929b702a6be0e5b11b5c31a8d0bb2
--- /dev/null
+++ b/assets/urdf/Window/102896/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider translation_window
+link_1 slider translation_window
+link_2 static window_frame
diff --git a/assets/urdf/Window/103148/bounding_box.json b/assets/urdf/Window/103148/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..10efa138fef60f082dab9e11986703f2714d5637
--- /dev/null
+++ b/assets/urdf/Window/103148/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.747682, -0.71995, -0.057997], "max": [0.709544, 0.678987, 0.058581]}
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/grasp_poses.json b/assets/urdf/Window/103148/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..70a1d56d8785fb83fe95420eb54ccaaa41c96ca6
--- /dev/null
+++ b/assets/urdf/Window/103148/grasp_poses.json
@@ -0,0 +1,132 @@
+{
+    "object_name": "103148",
+    "scale": 1.5,
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+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.05967000126838684
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.019999999552965164
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.21716000139713287
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/meta.json b/assets/urdf/Window/103148/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a38a5b8131ac31f6242e2f5e3c703a79658a7c
--- /dev/null
+++ b/assets/urdf/Window/103148/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Window", "model_id": "6c8f8e7d-05e2-4c49-906f-bed80ba90f68", "version": "1", "anno_id": "3148", "time_in_sec": "16"}
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/mobility.urdf b/assets/urdf/Window/103148/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ffbc8d982a9fe8ff8d097dd5c25e2b5fd8e9404d
--- /dev/null
+++ b/assets/urdf/Window/103148/mobility.urdf
@@ -0,0 +1,125 @@
+<?xml version="1.0" ?>
+<robot name="partnet_6c8f8e7d-05e2-4c49-906f-bed80ba90f68">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-4.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-5.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_0"/>
+		<parent link="link_2"/>
+		<limit lower="0.008000000000000007" upper="0.6320000000000001"/>
+	</joint>
+	<link name="link_1">
+		<visual name="translation-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-7.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-9.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-10.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="1 0 0"/>
+		<child link="link_1"/>
+		<parent link="link_2"/>
+		<limit lower="-0.6479999999999999" upper="0"/>
+	</joint>
+	<link name="link_2">
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-13.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-12.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Window/103148/mobility_v2.json b/assets/urdf/Window/103148/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3dfbae2d3222a11766178628b3b2d41e29a365
--- /dev/null
+++ b/assets/urdf/Window/103148/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 1, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": 0.008000000000000007, "b": 0.6320000000000001, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 2, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [1, 0, 0]}, "limit": {"a": -0.6479999999999999, "b": 0, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/model_data.json b/assets/urdf/Window/103148/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dcd0c43d22747e364cde2f082d72a8c97bbf806
--- /dev/null
+++ b/assets/urdf/Window/103148/model_data.json
@@ -0,0 +1,158 @@
+{
+    "scale": 1.5,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.0871099978685379,
+                        0.007079999893903732,
+                        -0.9961699843406677,
+                        0.06089000031352043
+                    ],
+                    [
+                        -0.014209999702870846,
+                        0.9998800158500671,
+                        0.005869999993592501,
+                        0.01996999979019165
+                    ],
+                    [
+                        0.9961000084877014,
+                        0.013650000095367432,
+                        0.08720000088214874,
+                        -0.10350000113248825
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        -1.0,
+                        0.061560001224279404
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.019999999552965164
+                    ],
+                    [
+                        1.0,
+                        0.0,
+                        -0.0,
+                        0.2199999988079071
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 2,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.05999999865889549
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.019999999552965164
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        -0.0933300033211708
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 3,
+                "matrix": [
+                    [
+                        -0.0,
+                        0.0,
+                        1.0,
+                        -0.05967000126838684
+                    ],
+                    [
+                        0.0,
+                        1.0,
+                        0.0,
+                        0.019999999552965164
+                    ],
+                    [
+                        -1.0,
+                        0.0,
+                        -0.0,
+                        0.21716000139713287
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/result.json b/assets/urdf/Window/103148/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e8fe883f2d48a79a8b1d70cd8f4009dfc37ff19
--- /dev/null
+++ b/assets/urdf/Window/103148/result.json
@@ -0,0 +1 @@
+[{"text": "Window", "name": "Window", "id": 0, "children": [{"text": "translation", "name": "translation", "id": 1, "objs": ["original-2", "original-4", "original-5"]}, {"text": "translation", "name": "translation", "id": 2, "objs": ["original-7", "original-9", "original-10"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-13", "original-12"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/result_original.json b/assets/urdf/Window/103148/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..a088356029bd668fb0fcba94d40f1e9f3f83511b
--- /dev/null
+++ b/assets/urdf/Window/103148/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Window", "text": "Window", "children": [{"id": 1, "name": "translation", "text": "translation", "objs": ["original-2", "original-4", "original-5"]}, {"id": 2, "name": "translation", "text": "translation", "objs": ["original-7", "original-9", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103148/semantics.txt b/assets/urdf/Window/103148/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec0e9e0e7f0929b702a6be0e5b11b5c31a8d0bb2
--- /dev/null
+++ b/assets/urdf/Window/103148/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider translation_window
+link_1 slider translation_window
+link_2 static window_frame
diff --git a/assets/urdf/Window/103318/bounding_box.json b/assets/urdf/Window/103318/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1eaaf05099e088a74c4829d1e05aaf8d2df52d7
--- /dev/null
+++ b/assets/urdf/Window/103318/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.467399, -0.900069, -0.061419], "max": [0.446802, 0.900631, 0.076828]}
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/grasp_poses.json b/assets/urdf/Window/103318/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba78fb33276309552c383f626e79d48cadd15ef
--- /dev/null
+++ b/assets/urdf/Window/103318/grasp_poses.json
@@ -0,0 +1,70 @@
+{
+    "object_name": "103318",
+    "scale": 1.5,
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
+                    [
+                        0.3727799952030182,
+                        0.7880100011825562,
+                        0.489980012178421,
+                        -0.07641000300645828
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+                        -0.5038800239562988,
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+                    ],
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+                        0.6086099743843079,
+                        -0.711359977722168,
+                        0.9018999934196472
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
+                        -0.15223999321460724,
+                        -0.7358300089836121,
+                        0.6598299741744995,
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+                    [
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+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/meta.json b/assets/urdf/Window/103318/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ffb819b0f1d39a28af29932713e0f3ce7d928c
--- /dev/null
+++ b/assets/urdf/Window/103318/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Window", "model_id": "b8ce5230-5bbe-41f0-874a-7f09fff7dde4", "version": "1", "anno_id": "3318", "time_in_sec": "207"}
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/mobility.urdf b/assets/urdf/Window/103318/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8778a45e6e023a6b8f294d9799fab8f893c9b544
--- /dev/null
+++ b/assets/urdf/Window/103318/mobility.urdf
@@ -0,0 +1,1685 @@
+<?xml version="1.0" ?>
+<robot name="partnet_b8ce5230-5bbe-41f0-874a-7f09fff7dde4">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-94.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-93.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-95.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-109.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-110.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-111.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-99.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-97.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-98.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-78.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-81.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-80.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-82.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-60.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-65.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-66.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-67.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-64.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-61.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-63.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-62.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-73.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-70.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-69.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-75.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-74.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-76.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-72.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-71.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-87.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-85.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-86.obj"/>
+			</geometry>
+		</visual>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-136.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-127.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-133.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-158.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-145.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-131.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-146.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-161.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-118.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-142.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-165.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-157.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-129.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-143.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-151.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-155.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-164.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_2" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_2"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Window/103318/mobility_v2.json b/assets/urdf/Window/103318/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaabcfe45f119ab0a182b6056d96a46af0d3d12e
--- /dev/null
+++ b/assets/urdf/Window/103318/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 1, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": 0.8239999999999998, "b": 0, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 1, "parent": 2, "joint": "slider", "name": "translation", "parts": [{"id": 2, "name": "translation", "children": []}], "jointData": {"axis": {"origin": [0, 0, 0], "direction": [0, 1, 0]}, "limit": {"a": -0.03200000000000003, "b": -0.8879999999999999, "noLimit": false, "rotates": false, "noRotationLimit": false, "rotationLimit": 0}}}, {"id": 2, "parent": -1, "joint": "static", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/model_data.json b/assets/urdf/Window/103318/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e92fb9a72a537bb4bed38a625f45f1a979d63a
--- /dev/null
+++ b/assets/urdf/Window/103318/model_data.json
@@ -0,0 +1,96 @@
+{
+    "scale": 1.5,
+    "transform_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
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+            0.0,
+            0.0,
+            1.0
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+    ],
+    "init_qpos": [],
+    "grasp_parts": {
+        "handle": [
+            {
+                "id": 0,
+                "matrix": [
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+                    [
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            },
+            {
+                "id": 1,
+                "matrix": [
+                    [
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+                        -0.7358300089836121,
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "base": "base",
+                "description": ""
+            }
+        ]
+    }
+}
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/result.json b/assets/urdf/Window/103318/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e4f1f6ac3ad671f2d3210645697f6cc45c4f51
--- /dev/null
+++ b/assets/urdf/Window/103318/result.json
@@ -0,0 +1 @@
+[{"text": "Window", "name": "Window", "id": 0, "children": [{"text": "translation", "name": "translation", "id": 1, "objs": ["original-94", "original-93", "original-95", "original-109", "original-110", "original-111", "original-99", "original-97", "original-98", "original-78", "original-81", "original-80", "original-82", "original-60", "original-65", "original-66", "original-67", "original-64", "original-61", "original-63", "original-62", "original-73", "original-70", "original-69", "original-75", "original-74", "original-76", "original-72", "original-71", "original-87", "original-85", "original-86", "original-89", "original-91", "original-90", "original-105", "original-107", "original-106", "original-102", "original-101", "original-103", "original-83"]}, {"text": "translation", "name": "translation", "id": 2, "objs": ["original-49", "original-48", "original-47", "original-28", "original-26", "original-27", "original-34", "original-35", "original-36", "original-52", "original-37", "original-53", "original-51", "original-8", "original-9", "original-7", "original-12", "original-10", "original-4", "original-6", "original-13", "original-11", "original-43", "original-56", "original-31", "original-30", "original-55", "original-57", "original-32", "original-45", "original-44", "original-41", "original-39", "original-40", "original-24", "original-17", "original-18", "original-21", "original-15", "original-22", "original-20", "original-19", "original-16"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-123", "original-152", "original-132", "original-154", "original-126", "original-169", "original-119", "original-124", "original-166", "original-134", "original-167", "original-117", "original-153", "original-160", "original-149", "original-128", "original-130", "original-137", "original-139", "original-162", "original-140", "original-147", "original-148", "original-138", "original-156", "original-144", "original-120", "original-114", "original-150", "original-168", "original-159", "original-170", "original-163", "original-141", "original-116", "original-122", "original-136", "original-127", "original-133", "original-158", "original-145", "original-131", "original-146", "original-161", "original-118", "original-142", "original-165", "original-157", "original-129", "original-143", "original-151", "original-155", "original-164"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/result_original.json b/assets/urdf/Window/103318/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f1eb33bb3c909f6cc8ce75d89ab1f65a4c467e
--- /dev/null
+++ b/assets/urdf/Window/103318/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Window", "text": "Window", "children": [{"id": 1, "name": "translation", "text": "translation", "objs": ["original-94", "original-93", "original-95", "original-109", "original-110", "original-111", "original-99", "original-97", "original-98", "original-78", "original-81", "original-80", "original-82", "original-60", "original-65", "original-66", "original-67", "original-64", "original-61", "original-63", "original-62", "original-73", "original-70", "original-69", "original-75", "original-74", "original-76", "original-72", "original-71", "original-87", "original-85", "original-86", "original-89", "original-91", "original-90", "original-105", "original-107", "original-106", "original-102", "original-101", "original-103", "original-83"]}, {"id": 2, "name": "translation", "text": "translation", "objs": ["original-49", "original-48", "original-47", "original-28", "original-26", "original-27", "original-34", "original-35", "original-36", "original-52", "original-37", "original-53", "original-51", "original-8", "original-9", "original-7", "original-12", "original-10", "original-4", "original-6", "original-13", "original-11", "original-43", "original-56", "original-31", "original-30", "original-55", "original-57", "original-32", "original-45", "original-44", "original-41", "original-39", "original-40", "original-24", "original-17", "original-18", "original-21", "original-15", "original-22", "original-20", "original-19", "original-16"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Window/103318/semantics.txt b/assets/urdf/Window/103318/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ec0e9e0e7f0929b702a6be0e5b11b5c31a8d0bb2
--- /dev/null
+++ b/assets/urdf/Window/103318/semantics.txt
@@ -0,0 +1,3 @@
+link_0 slider translation_window
+link_1 slider translation_window
+link_2 static window_frame
diff --git a/assets/urdf/Window/103319/bounding_box.json b/assets/urdf/Window/103319/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9de6037d01199ff9aea7264cacaad5a72770ae
--- /dev/null
+++ b/assets/urdf/Window/103319/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.704062, -0.749806, -0.034261], "max": [0.731055, 0.685312, 0.037495]}
\ No newline at end of file
diff --git a/assets/urdf/Window/103319/grasp_poses.json b/assets/urdf/Window/103319/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c6382528ce1b9e92f9f173adcb10b6ce516c16e
--- /dev/null
+++ b/assets/urdf/Window/103319/grasp_poses.json
@@ -0,0 +1,194 @@
+{
+    "object_name": "103319",
+    "scale": 1.5,
+    "grasp_parts": {
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+}
\ No newline at end of file
diff --git a/assets/urdf/Window/103319/meta.json b/assets/urdf/Window/103319/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c09dad8ee51ef22d68523fdd7a7f97ed57e02c
--- /dev/null
+++ b/assets/urdf/Window/103319/meta.json
@@ -0,0 +1 @@
+{"user_id": "KeplerSN", "model_cat": "Window", "model_id": "bf189fc7-ff9e-48d4-bbd7-723b203eeb69", "version": "5", "anno_id": "3319", "time_in_sec": "2629"}
\ No newline at end of file
diff --git a/assets/urdf/Window/103319/mobility.urdf b/assets/urdf/Window/103319/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..33c58d6237f50b3c8506a80966ecfaa67c5b4e11
--- /dev/null
+++ b/assets/urdf/Window/103319/mobility.urdf
@@ -0,0 +1,3686 @@
+<?xml version="1.0" ?>
+<robot name="partnet_bf189fc7-ff9e-48d4-bbd7-723b203eeb69">
+	<link name="base"/>
+	<link name="link_0">
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-468.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-459.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-514.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-522.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-517.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-521.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-535.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-506.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-509.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-513.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-530.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-529.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-505.obj"/>
+			</geometry>
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+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-557.obj"/>
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+		</visual>
+		<visual name="translation-1">
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+			<geometry>
+				<mesh filename="textured_objs/original-534.obj"/>
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+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-599.obj"/>
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+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-603.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-604.obj"/>
+			</geometry>
+		</visual>
+		<visual name="translation-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-596.obj"/>
+			</geometry>
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+		<collision>
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+		<collision>
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+		<collision>
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+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
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+	</link>
+	<joint name="joint_3" type="fixed">
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+		<child link="link_3"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/urdf/Window/103319/mobility_v2.json b/assets/urdf/Window/103319/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2054d05eac7ce5f026f2ce29091c90f82d71c5
--- /dev/null
+++ b/assets/urdf/Window/103319/mobility_v2.json
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diff --git a/assets/urdf/Window/103319/model_data.json b/assets/urdf/Window/103319/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c83163c87b470554eeb33a81e995182f9ddd43
--- /dev/null
+++ b/assets/urdf/Window/103319/model_data.json
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diff --git a/assets/urdf/Window/103319/result.json b/assets/urdf/Window/103319/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f27c287e76c10f61cf0b50759a276d757f54c3
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new file mode 100644
index 0000000000000000000000000000000000000000..33d5e2398eb686ffe19aebbce3b51464b5de82a5
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\ No newline at end of file
diff --git a/assets/urdf/Window/103319/semantics.txt b/assets/urdf/Window/103319/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c525cc686a14992f5ed13fc56ca61493cf33dbe4
--- /dev/null
+++ b/assets/urdf/Window/103319/semantics.txt
@@ -0,0 +1,4 @@
+link_0 slider translation_window
+link_1 slider translation_window
+link_2 slider translation_window
+link_3 static window_frame
diff --git a/assets/urdf/Window/103319/textured_objs/original-10.mtl b/assets/urdf/Window/103319/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-10.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-10.obj b/assets/urdf/Window/103319/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a7abc845543dd16c608ea38e34920a46b2a857c
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-10.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o instance_12/FNBF/ID66#ID66
+v -0.677969 -0.723712 0.034233
+v 0.704961 -0.746544 0.034233
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diff --git a/assets/urdf/Window/103319/textured_objs/original-100.mtl b/assets/urdf/Window/103319/textured_objs/original-100.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-100.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-100.obj b/assets/urdf/Window/103319/textured_objs/original-100.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6440e06a85358ddbe4934f7e4de6f06fdcc433e
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-100.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
+# 100
+mtllib original-100.mtl
+o instance_97/Joint_Bas_Verre_1/ID544#ID544
+v 0.227677 -0.457564 0.002269
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diff --git a/assets/urdf/Window/103319/textured_objs/original-101.mtl b/assets/urdf/Window/103319/textured_objs/original-101.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-101.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Window/103319/textured_objs/original-101.obj b/assets/urdf/Window/103319/textured_objs/original-101.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef191907606faaff0e2c7312a79fe6acd3f5e8d9
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-101.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
+# 101
+mtllib original-101.mtl
+o instance_98/Joint_Gauche_Verre_1/ID552#ID552
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diff --git a/assets/urdf/Window/103319/textured_objs/original-103.mtl b/assets/urdf/Window/103319/textured_objs/original-103.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-103.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
+d 1
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+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-103.obj b/assets/urdf/Window/103319/textured_objs/original-103.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cf61ee38ec4ef97dd16a945e61e78995a5f912
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-103.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 103
+mtllib original-103.mtl
+o #ID560
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diff --git a/assets/urdf/Window/103319/textured_objs/original-104.obj b/assets/urdf/Window/103319/textured_objs/original-104.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e230b3a7df5824bbce67ae053a7fbc4d0bd8739c
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-104.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 104
+mtllib original-104.mtl
+o #ID568
+v 0.227677 0.661175 0.008792
+v -0.200684 0.635082 0.008792
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diff --git a/assets/urdf/Window/103319/textured_objs/original-107.obj b/assets/urdf/Window/103319/textured_objs/original-107.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29ca0fb0fc1817700ba36de8c65c13205bfbc753
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-107.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 107
+mtllib original-107.mtl
+o #ID580
+v 0.227677 0.635082 0.004878
+v -0.200684 -0.462782 0.004878
+v 0.227677 -0.462782 0.004878
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diff --git a/assets/urdf/Window/103319/textured_objs/original-108.obj b/assets/urdf/Window/103319/textured_objs/original-108.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0bbb3d340d678acce0bda08b3782c6f3c897618
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-108.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 108
+mtllib original-108.mtl
+o #ID588
+v -0.200684 0.635082 0.002269
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diff --git a/assets/urdf/Window/103319/textured_objs/original-109.mtl b/assets/urdf/Window/103319/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-109.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-109.obj b/assets/urdf/Window/103319/textured_objs/original-109.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-109.obj
@@ -0,0 +1,73 @@
+# SSTK version 0.8.0
+# 109
+mtllib original-109.mtl
+o instance_102/Rainure_Ouvrant_1/ID596#ID596
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diff --git a/assets/urdf/Window/103319/textured_objs/original-11.mtl b/assets/urdf/Window/103319/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-11.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-11.obj b/assets/urdf/Window/103319/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fe99118c1a6a79828cf0d45058854b02a4afcb43
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-11.obj
@@ -0,0 +1,46 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103319/textured_objs/original-278.obj b/assets/urdf/Window/103319/textured_objs/original-278.obj
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index 0000000000000000000000000000000000000000..64857dfb3f49e85fea6bd853f9a05bf8aa76f46d
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+++ b/assets/urdf/Window/103319/textured_objs/original-420.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-425.obj b/assets/urdf/Window/103319/textured_objs/original-425.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-426.obj b/assets/urdf/Window/103319/textured_objs/original-426.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-436.obj b/assets/urdf/Window/103319/textured_objs/original-436.obj
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+++ b/assets/urdf/Window/103319/textured_objs/original-436.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103319/textured_objs/original-437.obj b/assets/urdf/Window/103319/textured_objs/original-437.obj
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+++ b/assets/urdf/Window/103319/textured_objs/original-437.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-44.obj b/assets/urdf/Window/103319/textured_objs/original-44.obj
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--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-44.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-440.obj b/assets/urdf/Window/103319/textured_objs/original-440.obj
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--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-440.obj
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+++ b/assets/urdf/Window/103319/textured_objs/original-441.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-442.obj b/assets/urdf/Window/103319/textured_objs/original-442.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-444.obj b/assets/urdf/Window/103319/textured_objs/original-444.obj
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diff --git a/assets/urdf/Window/103319/textured_objs/original-445.mtl b/assets/urdf/Window/103319/textured_objs/original-445.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-445.mtl
@@ -0,0 +1,8 @@
+newmtl material_0_0
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-445.obj b/assets/urdf/Window/103319/textured_objs/original-445.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3af8140b2f6a83e6143dc1c573ae24fd4205939
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-445.obj
@@ -0,0 +1,18 @@
+# SSTK version 0.8.0
+# 445
+mtllib original-445.mtl
+o #ID721
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diff --git a/assets/urdf/Window/103319/textured_objs/original-448.mtl b/assets/urdf/Window/103319/textured_objs/original-448.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-448.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-449.mtl b/assets/urdf/Window/103319/textured_objs/original-449.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-449.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-449.obj b/assets/urdf/Window/103319/textured_objs/original-449.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7256064e70a6bba8eb2174748c0fd3aaba6d39b8
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-449.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
+# 449
+mtllib original-449.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-45.obj b/assets/urdf/Window/103319/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a92f9b10bc197209162b6cbf9a049f61019042de
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-45.obj
@@ -0,0 +1,35 @@
+# SSTK version 0.8.0
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+mtllib original-45.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-450.obj b/assets/urdf/Window/103319/textured_objs/original-450.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6685e9a79ac59b94f68680031f48d951fbf992c6
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-450.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
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+mtllib original-450.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-451.mtl b/assets/urdf/Window/103319/textured_objs/original-451.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-451.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-451.obj b/assets/urdf/Window/103319/textured_objs/original-451.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f86fc79ff9b905434c067b84b6d809dabc9eaabf
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-451.obj
@@ -0,0 +1,45 @@
+# SSTK version 0.8.0
+# 451
+mtllib original-451.mtl
+o instance_277/Joint_Gauche_Verre_1/ID552#ID552
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diff --git a/assets/urdf/Window/103319/textured_objs/original-453.obj b/assets/urdf/Window/103319/textured_objs/original-453.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a8a7a4a83a33ab9f39a1d968eae3f45b5746e4
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-453.obj
@@ -0,0 +1,175 @@
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+# 453
+mtllib original-453.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-454.mtl b/assets/urdf/Window/103319/textured_objs/original-454.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..041ddd31593bf50a03eed647c4b66808020b1198
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-454.mtl
@@ -0,0 +1,8 @@
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diff --git a/assets/urdf/Window/103319/textured_objs/original-454.obj b/assets/urdf/Window/103319/textured_objs/original-454.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b9450c1c380f8a19eb339d4e89348493abf67d4
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-454.obj
@@ -0,0 +1,1123 @@
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+mtllib original-454.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-456.mtl b/assets/urdf/Window/103319/textured_objs/original-456.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-456.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-457.mtl b/assets/urdf/Window/103319/textured_objs/original-457.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-457.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-457.obj b/assets/urdf/Window/103319/textured_objs/original-457.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b24b10cc3d09ad4dcf03757fad47f137a918696
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-457.obj
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+# SSTK version 0.8.0
+# 457
+mtllib original-457.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-459.mtl b/assets/urdf/Window/103319/textured_objs/original-459.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-459.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-459.obj b/assets/urdf/Window/103319/textured_objs/original-459.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05ee4b0f88b71c99dea30c660aaf198eb748f290
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-459.obj
@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 459
+mtllib original-459.mtl
+o #ID560
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diff --git a/assets/urdf/Window/103319/textured_objs/original-460.mtl b/assets/urdf/Window/103319/textured_objs/original-460.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-460.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-460.obj b/assets/urdf/Window/103319/textured_objs/original-460.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0c42265fddb295476e25ad8cd623bb201eb19f7a
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-460.obj
@@ -0,0 +1,23 @@
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+mtllib original-460.mtl
+o #ID568
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diff --git a/assets/urdf/Window/103319/textured_objs/original-463.mtl b/assets/urdf/Window/103319/textured_objs/original-463.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af989f1a84278147c0276e233f82a5482910a725
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-463.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-463.obj b/assets/urdf/Window/103319/textured_objs/original-463.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f3ab93709dc625badc98b6fdc3ad7c614fa1695
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-463.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 463
+mtllib original-463.mtl
+o #ID580
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diff --git a/assets/urdf/Window/103319/textured_objs/original-464.mtl b/assets/urdf/Window/103319/textured_objs/original-464.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af989f1a84278147c0276e233f82a5482910a725
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-464.mtl
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diff --git a/assets/urdf/Window/103319/textured_objs/original-465.mtl b/assets/urdf/Window/103319/textured_objs/original-465.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-465.mtl
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+newmtl material_0_0
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+map_Kd ../images/texture_0.jpg
+
diff --git a/assets/urdf/Window/103319/textured_objs/original-465.obj b/assets/urdf/Window/103319/textured_objs/original-465.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f95b826b39421372e21284c7537924c912d50b37
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-465.obj
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+# SSTK version 0.8.0
+# 465
+mtllib original-465.mtl
+o instance_286/Rainure_Ouvrant_1/ID596#ID596
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diff --git a/assets/urdf/Window/103319/textured_objs/original-99.mtl b/assets/urdf/Window/103319/textured_objs/original-99.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-99.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103319/textured_objs/original-99.obj b/assets/urdf/Window/103319/textured_objs/original-99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d323e76f6ad33e21204aeb018d774dc7ed1ef560
--- /dev/null
+++ b/assets/urdf/Window/103319/textured_objs/original-99.obj
@@ -0,0 +1,45 @@
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