diff --git a/assets/urdf/Stapler/103095/grasp_poses.json b/assets/urdf/Stapler/103095/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ee5cece5251c995c03e7286fe3a0b06bb709c6
--- /dev/null
+++ b/assets/urdf/Stapler/103095/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103095",
+ "scale": 0.09,
+ "grasp_parts": {
+ "lid": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.766040027141571,
+ 0.0,
+ -0.6427900195121765,
+ 0.5273399949073792
+ ],
+ [
+ -0.0,
+ 1.0,
+ 0.0,
+ 0.11111000180244446
+ ],
+ [
+ 0.6427900195121765,
+ 0.0,
+ -0.766040027141571,
+ 0.2827399969100952
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.2588199973106384,
+ -0.0,
+ 0.9659299850463867,
+ -1.0216799974441528
+ ],
+ [
+ -0.0,
+ 1.0,
+ 0.0,
+ -0.0
+ ],
+ [
+ -0.9659299850463867,
+ -0.0,
+ -0.2588199973106384,
+ -0.19713999330997467
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/mobility_v2.json b/assets/urdf/Stapler/103095/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ee00b314540f76d62f180cd354051b63d57d82
--- /dev/null
+++ b/assets/urdf/Stapler/103095/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"hinge","name":"body","parts":[{"id":1,"name":"body"}],"jointData":{"axis":{"origin":[0,0.09,-0.76],"direction":[1,0,0]},"limit":{"a":0,"b":119,"noLimit":false}}},{"id":1,"parent":2,"joint":"hinge","name":"lid","parts":[{"id":2,"name":"lid"}],"jointData":{"axis":{"origin":[0,0.09,-0.76],"direction":[1,0,0]},"limit":{"a":0,"b":-27,"noLimit":false}}},{"id":2,"parent":-1,"joint":"free","name":"base_body","parts":[{"id":3,"name":"base_body"}],"jointData":{}}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/model_data.json b/assets/urdf/Stapler/103095/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5d8ccf48ba574123951717f89ec974f418b355e
--- /dev/null
+++ b/assets/urdf/Stapler/103095/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.09,
+ "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": {
+ "lid": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.766040027141571,
+ 0.0,
+ -0.6427900195121765,
+ 0.5273399949073792
+ ],
+ [
+ -0.0,
+ 1.0,
+ 0.0,
+ 0.11111000180244446
+ ],
+ [
+ 0.6427900195121765,
+ 0.0,
+ -0.766040027141571,
+ 0.2827399969100952
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.2588199973106384,
+ -0.0,
+ 0.9659299850463867,
+ -1.0216799974441528
+ ],
+ [
+ -0.0,
+ 1.0,
+ 0.0,
+ -0.0
+ ],
+ [
+ -0.9659299850463867,
+ -0.0,
+ -0.2588199973106384,
+ -0.19713999330997467
+ ],
+ [
+ 0.0,
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/result.json b/assets/urdf/Stapler/103095/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..5803bb28fdb916936c1895687490e2c9d289db8c
--- /dev/null
+++ b/assets/urdf/Stapler/103095/result.json
@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-2"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-4", "original-11", "original-6", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-8", "original-9", "original-7", "original-1", "original-10"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103095/semantics.txt b/assets/urdf/Stapler/103095/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103095/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-1.obj b/assets/urdf/Stapler/103099/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02efe167fcea82abd5c7d976bd0a9788d7139e81
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-1.obj
@@ -0,0 +1,2197 @@
+# SSTK version 0.8.0
+# 1
+mtllib original-1.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-10.mtl b/assets/urdf/Stapler/103099/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-10.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/Stapler/103099/textured_objs/original-10.obj b/assets/urdf/Stapler/103099/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0275268b07f662108b74a61ca04e8fd288e69d4
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-10.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o Component_1_7/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.128701 0.622436
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-11.mtl b/assets/urdf/Stapler/103099/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-11.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/Stapler/103099/textured_objs/original-11.obj b/assets/urdf/Stapler/103099/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cedae68884f4927eed1303f3f328c32c57deac6a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-11.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o Component_1_8/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.032123 0.0057
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-12.mtl b/assets/urdf/Stapler/103099/textured_objs/original-12.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-12.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/Stapler/103099/textured_objs/original-12.obj b/assets/urdf/Stapler/103099/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..459551cb698d9fee32ee58f2ecdd7d17faed7254
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-12.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o Component_1_9/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.035986 0.030369
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-16.mtl b/assets/urdf/Stapler/103099/textured_objs/original-16.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-16.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-17.obj b/assets/urdf/Stapler/103099/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7604a72d5a903e6c9ea1ee4730af2c018c4b7fc4
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-17.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 17
+mtllib original-17.mtl
+o Component_1_14/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-20.mtl b/assets/urdf/Stapler/103099/textured_objs/original-20.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-20.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-22.obj b/assets/urdf/Stapler/103099/textured_objs/original-22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..378eafc31371bd531593612d73aa5d6259c02413
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-22.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o Component_1_19/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-24.mtl b/assets/urdf/Stapler/103099/textured_objs/original-24.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-24.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/Stapler/103099/textured_objs/original-24.obj b/assets/urdf/Stapler/103099/textured_objs/original-24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f455ccd9617d6a684087d380e4c7065afa1942c
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-24.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o Component_1_21/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-25.obj b/assets/urdf/Stapler/103099/textured_objs/original-25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c752b00ab7248c5e3d1e5a270f4d3963da15c085
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-25.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o Component_1_22/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.093933 0.400411
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-26.mtl b/assets/urdf/Stapler/103099/textured_objs/original-26.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-26.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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+
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-26.obj b/assets/urdf/Stapler/103099/textured_objs/original-26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19bab0422bbdefd673e102bcfa2844756edc5a3
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-26.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 26
+mtllib original-26.mtl
+o Component_1_23/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-27.mtl b/assets/urdf/Stapler/103099/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-27.obj b/assets/urdf/Stapler/103099/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6736e5f68a5f4583e3ed2e9bc807076662d8655
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-27.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-28.mtl b/assets/urdf/Stapler/103099/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-28.obj b/assets/urdf/Stapler/103099/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d7ece4a2fcea1be3d05d7e0c0374e633cfa5a68
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-28.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 28
+mtllib original-28.mtl
+o Component_1_25/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-29.mtl b/assets/urdf/Stapler/103099/textured_objs/original-29.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-29.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-30.mtl b/assets/urdf/Stapler/103099/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-30.obj b/assets/urdf/Stapler/103099/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..040a8262caf7951577551c08e1ff33c830ebc321
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-30.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
+o Component_1_27/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-31.obj b/assets/urdf/Stapler/103099/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e534c97261353159d8e5eccb6d7355328eb09fc
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-31.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-32.mtl b/assets/urdf/Stapler/103099/textured_objs/original-32.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/Stapler/103099/textured_objs/original-32.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-33.mtl b/assets/urdf/Stapler/103099/textured_objs/original-33.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/Stapler/103099/textured_objs/original-33.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-34.mtl b/assets/urdf/Stapler/103099/textured_objs/original-34.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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+++ b/assets/urdf/Stapler/103099/textured_objs/original-34.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-38.obj b/assets/urdf/Stapler/103099/textured_objs/original-38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31e769ddc77bbea9028f0c92654115c7c8a91d3d
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-38.obj
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-39.obj b/assets/urdf/Stapler/103099/textured_objs/original-39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..669744e392db16fbca937bc88bdd97cd0c985346
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-39.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 39
+mtllib original-39.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-40.mtl b/assets/urdf/Stapler/103099/textured_objs/original-40.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-40.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-41.mtl b/assets/urdf/Stapler/103099/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-41.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-44.obj b/assets/urdf/Stapler/103099/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..30edfabc0b29c7604bb1e175dedb8dd80428bc8e
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-44.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 44
+mtllib original-44.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-46.obj b/assets/urdf/Stapler/103099/textured_objs/original-46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d70059f3e098428fb6572e3c512597a2447b259d
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-46.obj
@@ -0,0 +1,91 @@
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+mtllib original-46.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-47.obj b/assets/urdf/Stapler/103099/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..14fa82659db6b627bff9176298333c851c93fcfa
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-47.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o Component_1_44/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-48.obj b/assets/urdf/Stapler/103099/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0982c46f0bf47a728e89abf211b68d0494acd26f
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-48.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o Component_1_45/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.012807 -0.117648
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-49.mtl b/assets/urdf/Stapler/103099/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-49.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/Stapler/103099/textured_objs/original-5.mtl b/assets/urdf/Stapler/103099/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-5.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-5.obj b/assets/urdf/Stapler/103099/textured_objs/original-5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5fea7017d215f95144816b107482e005a2d1823
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-5.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 5
+mtllib original-5.mtl
+o Component_1_2/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.113248 0.523758
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-50.mtl b/assets/urdf/Stapler/103099/textured_objs/original-50.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-50.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/Stapler/103099/textured_objs/original-50.obj b/assets/urdf/Stapler/103099/textured_objs/original-50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a1d9cf50b23374ca82d1d80a90c3760e953e9e9b
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-50.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 50
+mtllib original-50.mtl
+o Component_1_47/Component_1/mesh10/mesh10-geometry#mesh10-geometry
+v -0.043106 0.066891 0.227725
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-51.obj b/assets/urdf/Stapler/103099/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5165788927ea19916211c8631904aa3a6f328294
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-51.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o Component_1_48/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-54.obj b/assets/urdf/Stapler/103099/textured_objs/original-54.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0aa1f2faaafb8a62e03b437807f92d3909de8cdb
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-54.obj
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index 0000000000000000000000000000000000000000..6202f5cc281b1bf0b3e7c629376a8a66415f0267
--- /dev/null
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-6.obj b/assets/urdf/Stapler/103099/textured_objs/original-6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e452f5836f6d81b9924581cfe8c84ba57ed6662
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-6.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 6
+mtllib original-6.mtl
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diff --git a/assets/urdf/Stapler/103099/textured_objs/original-7.mtl b/assets/urdf/Stapler/103099/textured_objs/original-7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-7.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git a/assets/urdf/Stapler/103099/textured_objs/original-9.obj b/assets/urdf/Stapler/103099/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1208a555d3149239767e889291a011d9964606e9
--- /dev/null
+++ b/assets/urdf/Stapler/103099/textured_objs/original-9.obj
@@ -0,0 +1,91 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
+o Component_1_6/Component_1/mesh10/mesh10-geometry#mesh10-geometry
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diff --git a/assets/urdf/Stapler/103104/bounding_box.json b/assets/urdf/Stapler/103104/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f794f2150ca70433aebe4fdcbcc271bfd213b1c
--- /dev/null
+++ b/assets/urdf/Stapler/103104/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.197574, -0.204028, -0.879035], "max": [0.205029, 0.234321, 0.987029]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/grasp_poses.json b/assets/urdf/Stapler/103104/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c2297603b88fc423f67b9d34a63dde4037bf15
--- /dev/null
+++ b/assets/urdf/Stapler/103104/grasp_poses.json
@@ -0,0 +1,72 @@
+{
+ "object_name": "103104",
+ "scale": 0.09,
+ "grasp_parts": {
+ "lid": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.9848099946975708,
+ -0.0,
+ 0.17364999651908875,
+ -0.05787999927997589
+ ],
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+ 0.32826998829841614
+ ],
+ [
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+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ],
+ "body": [
+ {
+ "id": 0,
+ "matrix": [
+ [
+ -0.0,
+ -0.0,
+ 1.0,
+ -0.9915599822998047
+ ],
+ [
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+ 1.0,
+ 0.0,
+ -0.0
+ ],
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+ ],
+ [
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+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ],
+ "base": "base",
+ "description": ""
+ }
+ ]
+ }
+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/meta.json b/assets/urdf/Stapler/103104/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6a29981c4c7ab7a5e0f73b226c59dfa459f863
--- /dev/null
+++ b/assets/urdf/Stapler/103104/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "453034dc-b04a-4415-8c43-16d6d23c47b2", "version": "1", "anno_id": "3104", "time_in_sec": "85"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/mobility_v2.json b/assets/urdf/Stapler/103104/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dabf8b5b7c758f4c83d06f4e4a061fb49ae0d29
--- /dev/null
+++ b/assets/urdf/Stapler/103104/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0677290172544402, -0.728057998017902], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 0, "b": 153, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [0.0, 0.0677290172544402, -0.728057998017902], "direction": [1.0, 0.0, 0.0]}, "limit": {"a": 2.16, "b": -132.12, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/model_data.json b/assets/urdf/Stapler/103104/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..205106251c94610f9e30766f0273b1624ea27561
--- /dev/null
+++ b/assets/urdf/Stapler/103104/model_data.json
@@ -0,0 +1,98 @@
+{
+ "scale": 0.09,
+ "transform_matrix": [
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diff --git a/assets/urdf/Stapler/103104/result.json b/assets/urdf/Stapler/103104/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be6fc799a5d1ac4d23e3379a366a308b37ca225
--- /dev/null
+++ b/assets/urdf/Stapler/103104/result.json
@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-29", "original-24", "original-27", "original-26", "original-25", "original-28", "original-31", "original-23", "original-22", "original-32"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-19", "original-18", "original-20"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-2", "original-16", "original-8", "original-13", "original-9", "original-5", "original-6", "original-15", "original-11", "original-12", "original-7", "original-1", "original-10", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/result_original.json b/assets/urdf/Stapler/103104/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..137e6a32f95134c188f040f2acacb84618ce1f2b
--- /dev/null
+++ b/assets/urdf/Stapler/103104/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-29", "original-24", "original-27", "original-26", "original-25", "original-28", "original-31", "original-23", "original-22", "original-32"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-19", "original-18", "original-20"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103104/semantics.txt b/assets/urdf/Stapler/103104/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103104/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103111/bounding_box.json b/assets/urdf/Stapler/103111/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..07aaece04f50683c594fbbd909e1f99f80b29ddf
--- /dev/null
+++ b/assets/urdf/Stapler/103111/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.292517, -0.225528, -0.901787], "max": [0.296272, 0.451763, 0.976713]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/grasp_poses.json b/assets/urdf/Stapler/103111/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c1a1b9b036762d4ee163daefd0e3fb3448feb05
--- /dev/null
+++ b/assets/urdf/Stapler/103111/grasp_poses.json
@@ -0,0 +1,72 @@
+{
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/meta.json b/assets/urdf/Stapler/103111/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a489ae36ca72710d43d372db407147e7d98631b4
--- /dev/null
+++ b/assets/urdf/Stapler/103111/meta.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/mobility.urdf b/assets/urdf/Stapler/103111/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bffec8d79d3858cda9a3e52c30504a8272257130
--- /dev/null
+++ b/assets/urdf/Stapler/103111/mobility.urdf
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diff --git a/assets/urdf/Stapler/103111/mobility_v2.json b/assets/urdf/Stapler/103111/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b6117530a37ffc2988364866d62a848a617503
--- /dev/null
+++ b/assets/urdf/Stapler/103111/mobility_v2.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/model_data.json b/assets/urdf/Stapler/103111/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..62391e82c4d708f1d4855e46af04eeb52bbe3237
--- /dev/null
+++ b/assets/urdf/Stapler/103111/model_data.json
@@ -0,0 +1,98 @@
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diff --git a/assets/urdf/Stapler/103111/result.json b/assets/urdf/Stapler/103111/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbbd6d67e0781b4b0a2e785759fed4e1da6f5617
--- /dev/null
+++ b/assets/urdf/Stapler/103111/result.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/result_original.json b/assets/urdf/Stapler/103111/result_original.json
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103111/result_original.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103111/semantics.txt b/assets/urdf/Stapler/103111/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103111/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-1.mtl b/assets/urdf/Stapler/103271/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c13445982095070f1b4060f3e10b621c342da05c
--- /dev/null
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+Ns 30
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-1.obj b/assets/urdf/Stapler/103271/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8dd35209dde781d329fd76540c0a5555572411ca
--- /dev/null
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-2.mtl b/assets/urdf/Stapler/103271/textured_objs/original-2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc3d05c8bf741bccff84882ae80ab75d77922945
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-2.mtl
@@ -0,0 +1,21 @@
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-2.obj b/assets/urdf/Stapler/103271/textured_objs/original-2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9257a3e27fa31296b5b4048e20635fd5c00d6424
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-2.obj
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-3.mtl b/assets/urdf/Stapler/103271/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0034588870a39e5f404306267382cab07543450
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-3.mtl
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
+newmtl material_1_0
+illum 3
+d 1
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+Kd 0.8823529411764706 0.8823529411764706 0.7843137254901961
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Stapler/103271/textured_objs/original-3.obj b/assets/urdf/Stapler/103271/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c011ffe2c292a7249c92dd2fac6f02b1222786c
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-3.obj
@@ -0,0 +1,36 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o Group4/mesh13/mesh13-geometry#mesh13-geometry
+v 0.041317 0.150679 -0.486028
+v 0.023019 0.150679 0.776712
+v 0.041317 0.150679 0.776712
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-4.mtl b/assets/urdf/Stapler/103271/textured_objs/original-4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fc14bb53338669ec7fc1bce1e310351af01b97b1
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-4.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/Stapler/103271/textured_objs/original-4.obj b/assets/urdf/Stapler/103271/textured_objs/original-4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412b7d31412611e796935b8d1a90d7ae023f13a5
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-4.obj
@@ -0,0 +1,801 @@
+# SSTK version 0.8.0
+# 4
+mtllib original-4.mtl
+o Group5/mesh14/mesh14-geometry#mesh14-geometry
+v -0.061353 -0.025246 -0.82383
+v -0.05507 -0.025246 -0.653518
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-5.mtl b/assets/urdf/Stapler/103271/textured_objs/original-5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bef34bd533e81abf16620922101b685a3ea64a88
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-5.mtl
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diff --git a/assets/urdf/Stapler/103271/textured_objs/original-5.obj b/assets/urdf/Stapler/103271/textured_objs/original-5.obj
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index 0000000000000000000000000000000000000000..3bab654965daa07b01561d0f0fa69dda3319da67
--- /dev/null
+++ b/assets/urdf/Stapler/103271/textured_objs/original-5.obj
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diff --git a/assets/urdf/Stapler/103273/mobility.urdf b/assets/urdf/Stapler/103273/mobility.urdf
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new file mode 100644
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--- /dev/null
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new file mode 100644
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diff --git a/assets/urdf/Stapler/103273/semantics.txt b/assets/urdf/Stapler/103273/semantics.txt
new file mode 100644
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diff --git a/assets/urdf/Stapler/103275/mobility.urdf b/assets/urdf/Stapler/103275/mobility.urdf
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new file mode 100644
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new file mode 100644
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+++ b/assets/urdf/Stapler/103275/result_original.json
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diff --git a/assets/urdf/Stapler/103275/semantics.txt b/assets/urdf/Stapler/103275/semantics.txt
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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new file mode 100644
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--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/assets/urdf/Stapler/103293/result.json b/assets/urdf/Stapler/103293/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f2c5b35e847a1dcf43611864bc1a1951babc83
--- /dev/null
+++ b/assets/urdf/Stapler/103293/result.json
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+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-11", "original-10", "original-8", "original-9"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-23", "original-22", "original-21", "original-19", "original-20", "original-24", "original-18", "original-17", "original-13", "original-14", "original-16", "original-15"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-4", "original-3", "original-2"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103293/result_original.json b/assets/urdf/Stapler/103293/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f97d4f54fafeee4da63e03cc4ad76c1566361de
--- /dev/null
+++ b/assets/urdf/Stapler/103293/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-11", "original-10", "original-8", "original-9"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-23", "original-22", "original-21", "original-19", "original-20", "original-24", "original-18", "original-17", "original-13", "original-14", "original-16", "original-15"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103293/semantics.txt b/assets/urdf/Stapler/103293/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103293/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103297/bounding_box.json b/assets/urdf/Stapler/103297/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..e60a01721e410cbbb6ab76a7e0da72ab83c27e68
--- /dev/null
+++ b/assets/urdf/Stapler/103297/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.296852, -0.216748, -0.962957], "max": [0.29545, 0.396707, 0.978947]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/grasp_poses.json b/assets/urdf/Stapler/103297/grasp_poses.json
new file mode 100644
index 0000000000000000000000000000000000000000..0194f19d0c61fd42d5505f39a7a8a5babcf59c45
--- /dev/null
+++ b/assets/urdf/Stapler/103297/grasp_poses.json
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+{
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+ "scale": 0.09,
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\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/meta.json b/assets/urdf/Stapler/103297/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd06c9a57cbdf422f2697646a9569780d42a95b0
--- /dev/null
+++ b/assets/urdf/Stapler/103297/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "dc2cda7d-6fd5-48dd-8f7e-7524d7eb1c0a", "version": "1", "anno_id": "3297", "time_in_sec": "91"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/mobility.urdf b/assets/urdf/Stapler/103297/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..469d3bc0b9c39b9d782ab41fa36167ef2e855117
--- /dev/null
+++ b/assets/urdf/Stapler/103297/mobility.urdf
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diff --git a/assets/urdf/Stapler/103297/mobility_v2.json b/assets/urdf/Stapler/103297/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..004bbaa19d5a00d90d1408c6c4ddb5501c0b30c6
--- /dev/null
+++ b/assets/urdf/Stapler/103297/mobility_v2.json
@@ -0,0 +1 @@
+[{"id": 0, "parent": 1, "joint": "hinge", "name": "body", "parts": [{"id": 1, "name": "body", "children": []}], "jointData": {"axis": {"origin": [-0.0031471613854814045, 0.11211095550936885, -0.6551485242703836], "direction": [-0.9999887896845383, -0.0007589332188270689, 0.0046738127499684765]}, "limit": {"a": 4.68, "b": -141.84, "noLimit": false}}}, {"id": 1, "parent": 2, "joint": "hinge", "name": "lid", "parts": [{"id": 2, "name": "lid", "children": []}], "jointData": {"axis": {"origin": [-0.0031471613854814045, 0.11211095550936885, -0.6551485242703836], "direction": [-0.9999887896845383, -0.0007589332188270689, 0.0046738127499684765]}, "limit": {"a": -4.680000000000007, "b": 120.96000000000001, "noLimit": false}}}, {"id": 2, "parent": -1, "joint": "free", "name": "base_body", "parts": [{"id": 3, "name": "base_body", "children": []}], "jointData": {}}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/model_data.json b/assets/urdf/Stapler/103297/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..323e59590fe689379a53795a4d1e944ec5d3a0f6
--- /dev/null
+++ b/assets/urdf/Stapler/103297/model_data.json
@@ -0,0 +1,98 @@
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+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/result_original.json b/assets/urdf/Stapler/103297/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..eafc7a1e1e5865a9dd4615c056a7869342653348
--- /dev/null
+++ b/assets/urdf/Stapler/103297/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-2", "original-3", "original-13", "original-10"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-1", "original-15", "original-14"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103297/semantics.txt b/assets/urdf/Stapler/103297/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103297/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
+link_1 hinge lid
+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103297/textured_objs/original-1.mtl b/assets/urdf/Stapler/103297/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..85dbaff961dffa9167d8c62dfb7e07a18480b212
--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103297/textured_objs/original-10.mtl b/assets/urdf/Stapler/103297/textured_objs/original-10.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-10.mtl
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diff --git a/assets/urdf/Stapler/103297/textured_objs/original-11.mtl b/assets/urdf/Stapler/103297/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42d6459e10f021c45ae84f2a07b89df3bea5675c
--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+Kd 0.6666666666666666 0.6666666666666666 0.6666666666666666
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diff --git a/assets/urdf/Stapler/103297/textured_objs/original-12.mtl b/assets/urdf/Stapler/103297/textured_objs/original-12.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-12.mtl
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
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diff --git a/assets/urdf/Stapler/103297/textured_objs/original-13.obj b/assets/urdf/Stapler/103297/textured_objs/original-13.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-13.obj
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diff --git a/assets/urdf/Stapler/103297/textured_objs/original-15.obj b/assets/urdf/Stapler/103297/textured_objs/original-15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..613b1cea4680de21f54c8920f07acdd087b1b0d9
--- /dev/null
+++ b/assets/urdf/Stapler/103297/textured_objs/original-15.obj
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diff --git a/assets/urdf/Stapler/103301/model_data.json b/assets/urdf/Stapler/103301/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ead6d366707018659001c442377d604f03338a8c
--- /dev/null
+++ b/assets/urdf/Stapler/103301/model_data.json
@@ -0,0 +1,98 @@
+{
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+ "grasp_parts": {
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+ "matrix": [
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+}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/bounding_box.json b/assets/urdf/Stapler/103303/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3417ec5e5e92c30cc8e6dbaff99eb3ef0ad1e4c
--- /dev/null
+++ b/assets/urdf/Stapler/103303/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.237059, -0.18474, -1.003827], "max": [0.238255, 0.415854, 0.988669]}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/meta.json b/assets/urdf/Stapler/103303/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d0ac933712b5f570e69d255606d4a3e69470c3
--- /dev/null
+++ b/assets/urdf/Stapler/103303/meta.json
@@ -0,0 +1 @@
+{"user_id": "kent0318", "model_cat": "Stapler", "model_id": "u26949e8f-8139-485b-99f9-694c026ed5a6", "version": "1", "anno_id": "3303", "time_in_sec": "76"}
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/result.json b/assets/urdf/Stapler/103303/result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98496cfe802e25e5bb1650222ee425d6a78d3e6
--- /dev/null
+++ b/assets/urdf/Stapler/103303/result.json
@@ -0,0 +1 @@
+[{"text": "Stapler", "name": "Stapler", "id": 0, "children": [{"text": "body", "name": "body", "id": 1, "objs": ["original-16", "original-17"]}, {"text": "lid", "name": "lid", "id": 2, "objs": ["original-4", "original-3", "original-8", "original-6", "original-9", "original-7", "original-5"]}, {"text": "base_body", "name": "base_body", "id": 3, "objs": ["original-21", "original-22", "original-13", "original-23", "original-11", "original-12", "original-24", "original-20", "original-1", "original-10", "original-14", "original-19"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/result_original.json b/assets/urdf/Stapler/103303/result_original.json
new file mode 100644
index 0000000000000000000000000000000000000000..c361bea67bd77de978c710e9ad7f48dfe0b71654
--- /dev/null
+++ b/assets/urdf/Stapler/103303/result_original.json
@@ -0,0 +1 @@
+[{"id": 0, "name": "Stapler", "text": "Stapler", "children": [{"id": 1, "name": "body", "text": "body", "objs": ["original-16", "original-17"]}, {"id": 2, "name": "lid", "text": "lid", "objs": ["original-4", "original-3", "original-8", "original-6", "original-9", "original-7", "original-5"]}]}]
\ No newline at end of file
diff --git a/assets/urdf/Stapler/103303/semantics.txt b/assets/urdf/Stapler/103303/semantics.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0c716be3081849a57f04ad8951633f7455f2bb2
--- /dev/null
+++ b/assets/urdf/Stapler/103303/semantics.txt
@@ -0,0 +1,3 @@
+link_0 hinge stapler_body
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+link_2 free stapler_base
diff --git a/assets/urdf/Stapler/103303/textured_objs/original-1.mtl b/assets/urdf/Stapler/103303/textured_objs/original-1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-1.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Stapler/103303/textured_objs/original-1.obj b/assets/urdf/Stapler/103303/textured_objs/original-1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d857d81d9d2b221bad0c9f6b8de41097d44ea5de
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-1.obj
@@ -0,0 +1,22095 @@
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-10.mtl b/assets/urdf/Stapler/103303/textured_objs/original-10.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-10.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-10.obj b/assets/urdf/Stapler/103303/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..830445ac383b620ee85949682de91846621aa7dd
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-10.obj
@@ -0,0 +1,23 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o #ID73
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-11.mtl b/assets/urdf/Stapler/103303/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-11.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-11.obj b/assets/urdf/Stapler/103303/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e179c64b28b66cb85cbf873dd83d7778770c6202
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-11.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-12.mtl b/assets/urdf/Stapler/103303/textured_objs/original-12.mtl
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-12.mtl
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-12.obj b/assets/urdf/Stapler/103303/textured_objs/original-12.obj
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index 0000000000000000000000000000000000000000..ecf9e7005bcb2be14c1d3c1348f1d2d2b7a25728
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-12.obj
@@ -0,0 +1,14 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o #ID85
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-13.mtl b/assets/urdf/Stapler/103303/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-13.mtl
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-13.obj b/assets/urdf/Stapler/103303/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bad7ec5830e73dff1b1e304d362a735128506f5
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-13.obj
@@ -0,0 +1,981 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o Difference/ID113#ID113
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-14.mtl b/assets/urdf/Stapler/103303/textured_objs/original-14.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-14.mtl
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+newmtl material_0_0
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-14.obj b/assets/urdf/Stapler/103303/textured_objs/original-14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..04bb2908df5926bfb984a3551024ccff010a2963
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-14.obj
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-16.obj b/assets/urdf/Stapler/103303/textured_objs/original-16.obj
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index 0000000000000000000000000000000000000000..861b75db65691771e1c765dbea76e00ad09630e4
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new file mode 100644
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-20.obj b/assets/urdf/Stapler/103303/textured_objs/original-20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c82ff46cc087115838a5f52a6e8f25688f5ee87
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-20.obj
@@ -0,0 +1,71 @@
+# SSTK version 0.8.0
+# 20
+mtllib original-20.mtl
+o #ID163
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new file mode 100644
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-21.obj b/assets/urdf/Stapler/103303/textured_objs/original-21.obj
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+++ b/assets/urdf/Stapler/103303/textured_objs/original-21.obj
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-23.obj b/assets/urdf/Stapler/103303/textured_objs/original-23.obj
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--- /dev/null
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new file mode 100644
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--- /dev/null
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-3.mtl b/assets/urdf/Stapler/103303/textured_objs/original-3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..450e5907a6e82ada1403bc37a87e31ad90735fcf
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-3.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.11764705882352941 0.1803921568627451 0.15294117647058825
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Stapler/103303/textured_objs/original-3.obj b/assets/urdf/Stapler/103303/textured_objs/original-3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..66a29a8761db119ffb8f7631d5a00f9607218885
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-3.obj
@@ -0,0 +1,8853 @@
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-8.mtl b/assets/urdf/Stapler/103303/textured_objs/original-8.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..450e5907a6e82ada1403bc37a87e31ad90735fcf
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-8.mtl
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-8.obj b/assets/urdf/Stapler/103303/textured_objs/original-8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e3fa8fc0b2b740764de94556790c5cf789802f8
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-8.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-9.mtl b/assets/urdf/Stapler/103303/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ba901d3ee4bc00ffce1629f080598d383b3b9281
--- /dev/null
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diff --git a/assets/urdf/Stapler/103303/textured_objs/original-9.obj b/assets/urdf/Stapler/103303/textured_objs/original-9.obj
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index 0000000000000000000000000000000000000000..3c0a4990d4d902e07c835b68703cd0e1810ea60c
--- /dev/null
+++ b/assets/urdf/Stapler/103303/textured_objs/original-9.obj
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diff --git a/assets/urdf/Window/102805/textured_objs/original-100.mtl b/assets/urdf/Window/102805/textured_objs/original-100.mtl
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diff --git a/assets/urdf/Window/102805/textured_objs/original-100.obj b/assets/urdf/Window/102805/textured_objs/original-100.obj
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index 0000000000000000000000000000000000000000..5d6f8ab3368976ef0e95f18067c0d563566e4563
--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-278.obj
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-416.obj
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--- /dev/null
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-42.obj
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+++ b/assets/urdf/Window/102805/textured_objs/original-421.obj
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+++ b/assets/urdf/Window/102805/textured_objs/original-424.obj
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diff --git a/assets/urdf/Window/102805/textured_objs/original-425.obj b/assets/urdf/Window/102805/textured_objs/original-425.obj
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-425.obj
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diff --git a/assets/urdf/Window/102805/textured_objs/original-426.obj b/assets/urdf/Window/102805/textured_objs/original-426.obj
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-426.obj
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diff --git a/assets/urdf/Window/102805/textured_objs/original-428.obj b/assets/urdf/Window/102805/textured_objs/original-428.obj
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-428.obj
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+++ b/assets/urdf/Window/102805/textured_objs/original-429.obj
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+++ b/assets/urdf/Window/102805/textured_objs/original-449.obj
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-45.obj
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diff --git a/assets/urdf/Window/102805/textured_objs/original-453.mtl b/assets/urdf/Window/102805/textured_objs/original-453.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-453.mtl
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diff --git a/assets/urdf/Window/102805/textured_objs/original-453.obj b/assets/urdf/Window/102805/textured_objs/original-453.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-453.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..cdfff84b2cd97716fae080eb8792183c2824f651
--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-454.obj
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index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
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diff --git a/assets/urdf/Window/102805/textured_objs/original-456.obj b/assets/urdf/Window/102805/textured_objs/original-456.obj
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index 0000000000000000000000000000000000000000..dc8066fb45c2777d48711099c5d2a99f7d8a5d35
--- /dev/null
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index 0000000000000000000000000000000000000000..afda97e85e227b64783aabbde0ec293113c43499
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diff --git a/assets/urdf/Window/102805/textured_objs/original-457.obj b/assets/urdf/Window/102805/textured_objs/original-457.obj
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index 0000000000000000000000000000000000000000..3895e8c8897f7ca093fbfd9ade6b6584523d8b17
--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-457.obj
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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index 0000000000000000000000000000000000000000..35a79d2c178e5954e74b589e03fd4d800fd444df
--- /dev/null
+++ b/assets/urdf/Window/102805/textured_objs/original-459.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-10.obj b/assets/urdf/Window/103318/textured_objs/original-10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c9e1e1d384d16c6a46b2aa076ef64702f4c4c88
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+++ b/assets/urdf/Window/103318/textured_objs/original-10.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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index 0000000000000000000000000000000000000000..21ff1532f5da7aee61097fe22a4318fef8128318
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+++ b/assets/urdf/Window/103318/textured_objs/original-101.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-102.obj b/assets/urdf/Window/103318/textured_objs/original-102.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3cce0cf40fb2c4252f9ad421d9acd64b3c9b63f8
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-102.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-103.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-103.obj b/assets/urdf/Window/103318/textured_objs/original-103.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-103.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-105.mtl b/assets/urdf/Window/103318/textured_objs/original-105.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-105.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-105.obj b/assets/urdf/Window/103318/textured_objs/original-105.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-105.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-106.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-106.obj b/assets/urdf/Window/103318/textured_objs/original-106.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b0cbfe5a6fc868c832202caced890855886df8ab
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-106.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-107.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-107.obj b/assets/urdf/Window/103318/textured_objs/original-107.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-107.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-109.mtl b/assets/urdf/Window/103318/textured_objs/original-109.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-109.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-109.obj b/assets/urdf/Window/103318/textured_objs/original-109.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d4cd807b2ae97ab6d5042c38b77b729253da1437
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-109.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-11.mtl b/assets/urdf/Window/103318/textured_objs/original-11.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-11.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-11.obj b/assets/urdf/Window/103318/textured_objs/original-11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7a679638b1a986b462ba7e67468d86232968fb9
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-11.obj
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new file mode 100644
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diff --git a/assets/urdf/Window/103318/textured_objs/original-110.obj b/assets/urdf/Window/103318/textured_objs/original-110.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7748f7dfecebe8a77d7c62e245ed473edcb07603
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new file mode 100644
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+++ b/assets/urdf/Window/103318/textured_objs/original-111.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-111.obj b/assets/urdf/Window/103318/textured_objs/original-111.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-111.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-114.mtl b/assets/urdf/Window/103318/textured_objs/original-114.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-114.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-114.obj b/assets/urdf/Window/103318/textured_objs/original-114.obj
new file mode 100644
index 0000000000000000000000000000000000000000..572bd6bf851be4419ea09c0b483fbc41b2c8f2df
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-114.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
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diff --git a/assets/urdf/Window/103318/textured_objs/original-116.obj b/assets/urdf/Window/103318/textured_objs/original-116.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2145f27258692504d3bdc3154110a6251b743978
--- /dev/null
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-12.obj b/assets/urdf/Window/103318/textured_objs/original-12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b83d029871fbe529b661e50eeac8386bdca83
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index 0000000000000000000000000000000000000000..11ad4d3f4d447182ca071a8d81f384c4baea4ca4
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diff --git a/assets/urdf/Window/103318/textured_objs/original-123.mtl b/assets/urdf/Window/103318/textured_objs/original-123.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-123.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-123.obj b/assets/urdf/Window/103318/textured_objs/original-123.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5898df97e789f6317aa7d21df8ab88b5f64a5e43
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-123.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 123
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+o #ID596
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diff --git a/assets/urdf/Window/103318/textured_objs/original-124.mtl b/assets/urdf/Window/103318/textured_objs/original-124.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-124.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-124.obj b/assets/urdf/Window/103318/textured_objs/original-124.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e95742d13761d015466add6ca8acd5bc378502f
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-124.obj
@@ -0,0 +1,19 @@
+# SSTK version 0.8.0
+# 124
+mtllib original-124.mtl
+o #ID602
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diff --git a/assets/urdf/Window/103318/textured_objs/original-126.mtl b/assets/urdf/Window/103318/textured_objs/original-126.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-126.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-126.obj b/assets/urdf/Window/103318/textured_objs/original-126.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b8f33925cb55eeeb5c555f898946c4d7added04
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-126.obj
@@ -0,0 +1,967 @@
+# SSTK version 0.8.0
+# 126
+mtllib original-126.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-127.mtl b/assets/urdf/Window/103318/textured_objs/original-127.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-127.obj b/assets/urdf/Window/103318/textured_objs/original-127.obj
new file mode 100644
index 0000000000000000000000000000000000000000..adfaff7c369c696bc4cfa394d69d6d827f7985e8
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
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diff --git a/assets/urdf/Window/103318/textured_objs/original-128.obj b/assets/urdf/Window/103318/textured_objs/original-128.obj
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index 0000000000000000000000000000000000000000..5f0ce2fa9c0a3d660762a601081367755d8aa8dd
--- /dev/null
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diff --git a/assets/urdf/Window/103318/textured_objs/original-129.mtl b/assets/urdf/Window/103318/textured_objs/original-129.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
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diff --git a/assets/urdf/Window/103318/textured_objs/original-129.obj b/assets/urdf/Window/103318/textured_objs/original-129.obj
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index 0000000000000000000000000000000000000000..06bcb06e5a93023bde254f634defd899fa3db237
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diff --git a/assets/urdf/Window/103318/textured_objs/original-13.mtl b/assets/urdf/Window/103318/textured_objs/original-13.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-13.mtl
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+newmtl material_0_0
+illum 3
+d 1
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diff --git a/assets/urdf/Window/103318/textured_objs/original-13.obj b/assets/urdf/Window/103318/textured_objs/original-13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a616c96e7cbc8897122c3fd7ca501daf777c56ac
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-13.obj
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index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-130.obj b/assets/urdf/Window/103318/textured_objs/original-130.obj
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index 0000000000000000000000000000000000000000..acbbf413614eb490bbb9696fc8847d39f18a6773
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diff --git a/assets/urdf/Window/103318/textured_objs/original-131.mtl b/assets/urdf/Window/103318/textured_objs/original-131.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-131.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-131.obj b/assets/urdf/Window/103318/textured_objs/original-131.obj
new file mode 100644
index 0000000000000000000000000000000000000000..23152535f7daeed997e0dda8189e5b126c79a90a
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-131.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-132.obj b/assets/urdf/Window/103318/textured_objs/original-132.obj
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index 0000000000000000000000000000000000000000..f2e31bf6de127ebd41777d7ebfb84c104f2601d7
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diff --git a/assets/urdf/Window/103318/textured_objs/original-133.mtl b/assets/urdf/Window/103318/textured_objs/original-133.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-133.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.8666666666666667 0.8784313725490196 0.8705882352941177
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
+
diff --git a/assets/urdf/Window/103318/textured_objs/original-133.obj b/assets/urdf/Window/103318/textured_objs/original-133.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cac8da40574ed01331c7fa34064de8af14a6d1b1
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-133.obj
@@ -0,0 +1,1125 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-134.mtl b/assets/urdf/Window/103318/textured_objs/original-134.mtl
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-134.obj b/assets/urdf/Window/103318/textured_objs/original-134.obj
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index 0000000000000000000000000000000000000000..d903e359a5a6be156e45e307eec4599ea8c096ff
--- /dev/null
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-136.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-136.obj b/assets/urdf/Window/103318/textured_objs/original-136.obj
new file mode 100644
index 0000000000000000000000000000000000000000..120cf1936a96001f6929a806c4bd4513355e0c6d
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-136.obj
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+o #ID686
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diff --git a/assets/urdf/Window/103318/textured_objs/original-137.mtl b/assets/urdf/Window/103318/textured_objs/original-137.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-137.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-137.obj b/assets/urdf/Window/103318/textured_objs/original-137.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-137.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 137
+mtllib original-137.mtl
+o #ID694
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diff --git a/assets/urdf/Window/103318/textured_objs/original-138.mtl b/assets/urdf/Window/103318/textured_objs/original-138.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..35197ef711fb28056260063194ee1c25cb7eb914
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-138.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-138.obj b/assets/urdf/Window/103318/textured_objs/original-138.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b89e725f8fdec41aca19f5c5b680f718a8927c3f
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-138.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 138
+mtllib original-138.mtl
+o #ID702
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diff --git a/assets/urdf/Window/103318/textured_objs/original-139.mtl b/assets/urdf/Window/103318/textured_objs/original-139.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c944ba5b5f0cfbdd2c2dc16c655473486b9fa25c
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-139.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-139.obj b/assets/urdf/Window/103318/textured_objs/original-139.obj
new file mode 100644
index 0000000000000000000000000000000000000000..248088f8c7d8a3b1d42c59b9dae9d3dd030d2ab3
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-139.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
+# 139
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+o #ID710
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diff --git a/assets/urdf/Window/103318/textured_objs/original-140.mtl b/assets/urdf/Window/103318/textured_objs/original-140.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7065578a253bb1e311a1fb850c3ea0f071f65441
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-140.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-140.obj b/assets/urdf/Window/103318/textured_objs/original-140.obj
new file mode 100644
index 0000000000000000000000000000000000000000..267d810e1b414487bc4c62297d6b519312fe92a8
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-140.obj
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+# SSTK version 0.8.0
+# 140
+mtllib original-140.mtl
+o #ID718
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diff --git a/assets/urdf/Window/103318/textured_objs/original-141.mtl b/assets/urdf/Window/103318/textured_objs/original-141.mtl
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+++ b/assets/urdf/Window/103318/textured_objs/original-141.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-141.obj b/assets/urdf/Window/103318/textured_objs/original-141.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b87096ae4dea6c41f04e29deb9044b824ac24db1
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-141.obj
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+# SSTK version 0.8.0
+# 141
+mtllib original-141.mtl
+o #ID726
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diff --git a/assets/urdf/Window/103318/textured_objs/original-142.mtl b/assets/urdf/Window/103318/textured_objs/original-142.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b323687e91e322b0f6821e857008059ac0f20c84
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-142.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-142.obj b/assets/urdf/Window/103318/textured_objs/original-142.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0efe1103b0e951cd547e112b4442c51378b73ff
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-142.obj
@@ -0,0 +1,24 @@
+# SSTK version 0.8.0
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+o #ID734
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new file mode 100644
index 0000000000000000000000000000000000000000..2e6647dbbf5b51c527bb50eda0ae396d6770abde
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-143.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-143.obj b/assets/urdf/Window/103318/textured_objs/original-143.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-143.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-144.mtl b/assets/urdf/Window/103318/textured_objs/original-144.mtl
new file mode 100644
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+++ b/assets/urdf/Window/103318/textured_objs/original-144.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-144.obj b/assets/urdf/Window/103318/textured_objs/original-144.obj
new file mode 100644
index 0000000000000000000000000000000000000000..632d8beb7d4692d72f34925464137569f2995586
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-144.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-145.mtl b/assets/urdf/Window/103318/textured_objs/original-145.mtl
new file mode 100644
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+++ b/assets/urdf/Window/103318/textured_objs/original-145.obj
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+++ b/assets/urdf/Window/103318/textured_objs/original-149.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..c18b687d56348a098816774fd18d0fd86085e544
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+++ b/assets/urdf/Window/103318/textured_objs/original-150.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-150.obj b/assets/urdf/Window/103318/textured_objs/original-150.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-150.obj
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new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-151.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-152.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-153.obj b/assets/urdf/Window/103318/textured_objs/original-153.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-153.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-154.obj b/assets/urdf/Window/103318/textured_objs/original-154.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-154.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-155.obj b/assets/urdf/Window/103318/textured_objs/original-155.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-155.obj
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new file mode 100644
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diff --git a/assets/urdf/Window/103318/textured_objs/original-156.obj b/assets/urdf/Window/103318/textured_objs/original-156.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3db7bbb6ab3ffb0b70198a5aceb5d6e5d3c9a10
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-156.obj
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+# SSTK version 0.8.0
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-160.obj
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+++ b/assets/urdf/Window/103318/textured_objs/original-161.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-162.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-163.obj
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+++ b/assets/urdf/Window/103318/textured_objs/original-164.obj
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+++ b/assets/urdf/Window/103318/textured_objs/original-165.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-166.obj b/assets/urdf/Window/103318/textured_objs/original-166.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-166.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-167.obj b/assets/urdf/Window/103318/textured_objs/original-167.obj
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+++ b/assets/urdf/Window/103318/textured_objs/original-167.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-168.obj b/assets/urdf/Window/103318/textured_objs/original-168.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-168.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-169.obj b/assets/urdf/Window/103318/textured_objs/original-169.obj
new file mode 100644
index 0000000000000000000000000000000000000000..168aa0bed0f04f3bcf867ff8f6dc2e268ccb866c
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-169.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-17.obj b/assets/urdf/Window/103318/textured_objs/original-17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..362d8e24a48ac3706bc3e749810cd5666a49a3d3
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-17.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-170.mtl b/assets/urdf/Window/103318/textured_objs/original-170.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36cf62d872abf71046ad85036ee1c2784fca8189
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-170.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-170.obj b/assets/urdf/Window/103318/textured_objs/original-170.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e91172cd22e1ceb9193c4ac058412784a4547a
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-170.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-18.mtl b/assets/urdf/Window/103318/textured_objs/original-18.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-18.obj b/assets/urdf/Window/103318/textured_objs/original-18.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-18.obj
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-19.obj b/assets/urdf/Window/103318/textured_objs/original-19.obj
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index 0000000000000000000000000000000000000000..6d8108d7bc54ca4b76906576037f617718da91fb
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diff --git a/assets/urdf/Window/103318/textured_objs/original-20.obj b/assets/urdf/Window/103318/textured_objs/original-20.obj
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-21.obj b/assets/urdf/Window/103318/textured_objs/original-21.obj
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index 0000000000000000000000000000000000000000..ac4caec1f6a30b719d2254627778b40af1621ad2
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new file mode 100644
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index 0000000000000000000000000000000000000000..17b3badd2f2cf3c38f5e7185932e707283e18506
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+++ b/assets/urdf/Window/103318/textured_objs/original-24.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-24.obj b/assets/urdf/Window/103318/textured_objs/original-24.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-27.mtl b/assets/urdf/Window/103318/textured_objs/original-27.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-27.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-27.obj b/assets/urdf/Window/103318/textured_objs/original-27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38aa3baa10687461a8097a8635cd623d8cf192bb
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-27.obj
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+mtllib original-27.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-28.mtl b/assets/urdf/Window/103318/textured_objs/original-28.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-28.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-28.obj b/assets/urdf/Window/103318/textured_objs/original-28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82baabc667e2ebcb7f795837bd6597ec85187625
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-28.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-30.mtl b/assets/urdf/Window/103318/textured_objs/original-30.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-30.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-30.obj b/assets/urdf/Window/103318/textured_objs/original-30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d574e157067081c9062057202d342c976372ef65
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-30.obj
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+# SSTK version 0.8.0
+# 30
+mtllib original-30.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-31.mtl b/assets/urdf/Window/103318/textured_objs/original-31.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-31.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-31.obj b/assets/urdf/Window/103318/textured_objs/original-31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89b14b2a8bff60bce83e9223446a25e0c0416772
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-31.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 31
+mtllib original-31.mtl
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/assets/urdf/Window/103318/textured_objs/original-37.obj b/assets/urdf/Window/103318/textured_objs/original-37.obj
new file mode 100644
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-37.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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+++ b/assets/urdf/Window/103318/textured_objs/original-39.mtl
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index 0000000000000000000000000000000000000000..5e66910e53c378f0404ba91295e2109ac9f1d7bf
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-39.obj
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new file mode 100644
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index 0000000000000000000000000000000000000000..033b24fc63d8ace830322fb6b6e4cf49b394012e
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+++ b/assets/urdf/Window/103318/textured_objs/original-4.obj
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
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index 0000000000000000000000000000000000000000..878171599a4e96c9a8fb49156c2b8a0d337c8f05
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diff --git a/assets/urdf/Window/103318/textured_objs/original-41.mtl b/assets/urdf/Window/103318/textured_objs/original-41.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-41.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-41.obj b/assets/urdf/Window/103318/textured_objs/original-41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c097b0bebd5b380a07c4392f6e67b9a420446945
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-41.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-43.mtl b/assets/urdf/Window/103318/textured_objs/original-43.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-43.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-43.obj b/assets/urdf/Window/103318/textured_objs/original-43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d2f55e23ed9e8c1cd360829c16f4ca5f9f14d99
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-43.obj
@@ -0,0 +1,145 @@
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+# 43
+mtllib original-43.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-44.mtl b/assets/urdf/Window/103318/textured_objs/original-44.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-44.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-44.obj b/assets/urdf/Window/103318/textured_objs/original-44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..feb061e9388d645c83fa0fa7e99e2cb3da8338b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-44.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-45.mtl b/assets/urdf/Window/103318/textured_objs/original-45.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-45.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-45.obj b/assets/urdf/Window/103318/textured_objs/original-45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..131442881c82f10d351f6c3c1204321fd9c4422f
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-45.obj
@@ -0,0 +1,145 @@
+# SSTK version 0.8.0
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+mtllib original-45.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-47.mtl b/assets/urdf/Window/103318/textured_objs/original-47.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-47.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-47.obj b/assets/urdf/Window/103318/textured_objs/original-47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2a8a26bc601a80ac7178dc031d0b248f3cc0359
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-47.obj
@@ -0,0 +1,145 @@
+# SSTK version 0.8.0
+# 47
+mtllib original-47.mtl
+o instance_44/LSGrille_3/ID221#ID221
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diff --git a/assets/urdf/Window/103318/textured_objs/original-48.mtl b/assets/urdf/Window/103318/textured_objs/original-48.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-48.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Window/103318/textured_objs/original-48.obj b/assets/urdf/Window/103318/textured_objs/original-48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bbf5cd6cdd6ceb0fcfb45f735aea1bd22f76351
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-48.obj
@@ -0,0 +1,145 @@
+# SSTK version 0.8.0
+# 48
+mtllib original-48.mtl
+o instance_45/RSGrille_3/ID229#ID229
+v 0.124426 0.846789 0.030795
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diff --git a/assets/urdf/Window/103318/textured_objs/original-49.mtl b/assets/urdf/Window/103318/textured_objs/original-49.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-49.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Window/103318/textured_objs/original-49.obj b/assets/urdf/Window/103318/textured_objs/original-49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5d46f248dcbebe81de90bf046c9294271ae03f50
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-49.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 49
+mtllib original-49.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-51.mtl b/assets/urdf/Window/103318/textured_objs/original-51.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-51.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
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diff --git a/assets/urdf/Window/103318/textured_objs/original-51.obj b/assets/urdf/Window/103318/textured_objs/original-51.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d94684760994f73e78a9d4dda5378ca9a79f7e73
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-51.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
+# 51
+mtllib original-51.mtl
+o instance_47/MHGrille_1/ID169#ID169
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diff --git a/assets/urdf/Window/103318/textured_objs/original-52.mtl b/assets/urdf/Window/103318/textured_objs/original-52.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-52.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-52.obj b/assets/urdf/Window/103318/textured_objs/original-52.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c61ab361321fe2bc589e5067f0cb5fda4af121c4
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-52.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-53.mtl b/assets/urdf/Window/103318/textured_objs/original-53.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-53.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-53.obj b/assets/urdf/Window/103318/textured_objs/original-53.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b36d0f42023424bfa7a0254c705b6699019545
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-53.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-55.mtl b/assets/urdf/Window/103318/textured_objs/original-55.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-55.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-55.obj b/assets/urdf/Window/103318/textured_objs/original-55.obj
new file mode 100644
index 0000000000000000000000000000000000000000..003fce91623b5a58a64384b256373a6c2435bdd4
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-55.obj
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+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-56.mtl b/assets/urdf/Window/103318/textured_objs/original-56.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-56.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-56.obj b/assets/urdf/Window/103318/textured_objs/original-56.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d785ccedb481c12aa281d1d4873a763cb2f7d357
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-56.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-63.obj b/assets/urdf/Window/103318/textured_objs/original-63.obj
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index 0000000000000000000000000000000000000000..204dfe635d7b6eeba8cb601ddb5a9e8ae0dca370
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diff --git a/assets/urdf/Window/103318/textured_objs/original-66.obj b/assets/urdf/Window/103318/textured_objs/original-66.obj
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index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-67.obj b/assets/urdf/Window/103318/textured_objs/original-67.obj
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index 0000000000000000000000000000000000000000..108999e179150cf675e2f12c5f4fbde34f38c98e
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-7.obj b/assets/urdf/Window/103318/textured_objs/original-7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5e1addddc99defca591e4db8177d946b4fa3225c
--- /dev/null
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-70.obj b/assets/urdf/Window/103318/textured_objs/original-70.obj
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index 0000000000000000000000000000000000000000..e55bac86faed7e02bb96b228a973ba7ae7f5c29f
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diff --git a/assets/urdf/Window/103318/textured_objs/original-71.obj b/assets/urdf/Window/103318/textured_objs/original-71.obj
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index 0000000000000000000000000000000000000000..e83f52b15437f5defa4339b21d51033279123cde
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diff --git a/assets/urdf/Window/103318/textured_objs/original-73.obj b/assets/urdf/Window/103318/textured_objs/original-73.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-81.obj b/assets/urdf/Window/103318/textured_objs/original-81.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a6710d94ef01e7a6d2e624a1209a88551de1311
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-81.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-82.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-82.obj b/assets/urdf/Window/103318/textured_objs/original-82.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb9c7eebdb19523591fa01f8d5235ca4cc6004a4
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-82.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-83.mtl b/assets/urdf/Window/103318/textured_objs/original-83.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..17b3badd2f2cf3c38f5e7185932e707283e18506
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-83.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-83.obj b/assets/urdf/Window/103318/textured_objs/original-83.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dfad2493227fdc084f093741ec3eedcae83439
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-83.obj
@@ -0,0 +1,83 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-85.mtl b/assets/urdf/Window/103318/textured_objs/original-85.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-85.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-85.obj b/assets/urdf/Window/103318/textured_objs/original-85.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d66fa0dc65360bf72aeb5ff182df7c64e8629ece
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-85.obj
@@ -0,0 +1,83 @@
+# SSTK version 0.8.0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-86.mtl b/assets/urdf/Window/103318/textured_objs/original-86.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-86.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-86.obj b/assets/urdf/Window/103318/textured_objs/original-86.obj
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--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-86.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-87.mtl b/assets/urdf/Window/103318/textured_objs/original-87.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-87.mtl
@@ -0,0 +1,7 @@
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diff --git a/assets/urdf/Window/103318/textured_objs/original-87.obj b/assets/urdf/Window/103318/textured_objs/original-87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..412eeb067239f315ba53167d053aa5147bd99d28
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-87.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-89.mtl b/assets/urdf/Window/103318/textured_objs/original-89.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-89.mtl
@@ -0,0 +1,7 @@
+newmtl material_0_0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-89.obj b/assets/urdf/Window/103318/textured_objs/original-89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6d1defa3a423263b817c5311befb42699e5cb577
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-89.obj
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+# 89
+mtllib original-89.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-9.mtl b/assets/urdf/Window/103318/textured_objs/original-9.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-9.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-9.obj b/assets/urdf/Window/103318/textured_objs/original-9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acbcce4ec49cf6cb977b6834a03dc699fd4c4cfa
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-9.obj
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+# SSTK version 0.8.0
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+mtllib original-9.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-90.mtl b/assets/urdf/Window/103318/textured_objs/original-90.mtl
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index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
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diff --git a/assets/urdf/Window/103318/textured_objs/original-90.obj b/assets/urdf/Window/103318/textured_objs/original-90.obj
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index 0000000000000000000000000000000000000000..0063b0a20b3f33f3710f676671651feb7ed421ad
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new file mode 100644
index 0000000000000000000000000000000000000000..4e1c0be43e01035e222676929b8453d3327de2b0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-91.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-91.obj b/assets/urdf/Window/103318/textured_objs/original-91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b19189e2d154d4c1c64cfd6071cbd8226832fc34
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-91.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-93.mtl b/assets/urdf/Window/103318/textured_objs/original-93.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-93.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-93.obj b/assets/urdf/Window/103318/textured_objs/original-93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1bc45e25ea8e3076110848b7b36a968cc42745
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-93.obj
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diff --git a/assets/urdf/Window/103318/textured_objs/original-94.mtl b/assets/urdf/Window/103318/textured_objs/original-94.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-94.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-94.obj b/assets/urdf/Window/103318/textured_objs/original-94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8272ecf773a256a1fb5927bcf43605979d91d9c0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-94.obj
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+mtllib original-94.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-95.mtl b/assets/urdf/Window/103318/textured_objs/original-95.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-95.mtl
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diff --git a/assets/urdf/Window/103318/textured_objs/original-95.obj b/assets/urdf/Window/103318/textured_objs/original-95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af2b822358d3b7d76c298b41190ea4f3181f28b1
--- /dev/null
+++ b/assets/urdf/Window/103318/textured_objs/original-95.obj
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new file mode 100644
index 0000000000000000000000000000000000000000..70cc15383c533686034a9cd4657d3fe9117405d0
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