diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.mtl"
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index 0000000000000000000000000000000000000000..d4875d9d8e685c33b63f9ace52cbc7cb478290dd
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.mtl"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..f8534ffe37413e3a746573999cf555889c1eaa1a
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-1.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..46b8bc614bfc9148923f9d18c0c43bb783bbc0a0
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.mtl"
@@ -0,0 +1,14 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..6822eb27f36008a8aee1f286cecf4e1f5380c97a
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-2.obj"
@@ -0,0 +1,13779 @@
+# SSTK version 0.8.0
+# 2
+mtllib original-2.mtl
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..eb7561e38c682889271e5afbe86533b7d6529442
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.mtl"
@@ -0,0 +1,22 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
+newmtl material_2_0
+illum 3
+d 1
+Ns 30
+Kd 0 0 0 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..d1ccbfae85c7e7eee9b77a59aebb0d20490aab40
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103299/textured_objs/original-3.obj"
@@ -0,0 +1,2704 @@
+# SSTK version 0.8.0
+# 3
+mtllib original-3.mtl
+o mesh3/mesh3-geometry#mesh3-geometry
+v 0.015658 0.424465 0.605712
+v -0.038329 0.408886 0.612678
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+v -0.078642 0.402953 0.599408
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index 0000000000000000000000000000000000000000..b3a150140406c7a20639d3f3e5ffba51d460c16b
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-10.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-10.obj"
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index 0000000000000000000000000000000000000000..0b9a87bb7093a55ad1a0895b619757e889f44d97
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+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-10.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-11.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-11.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-14.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-14.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-20.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-20.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
--- /dev/null
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+map_Kd ../images/texture_0.jpg
+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-20.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-20.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..36883bb13db766ce7349355a94e572c6d42ff5e1
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-20.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-21.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-21.mtl"
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-21.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-21.obj"
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index 0000000000000000000000000000000000000000..91f3b757c7a269503a0cea6ee8c4b76bc9a6f7f4
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..5debe44f3124a4598e526617eccb21e7f39866be
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.mtl"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..7d84821ee68fc233917d633240f391f2f2def1ec
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-25.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-27.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-27.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..8dd8a4bfd78de8dbea78bc17c3c81a8a09aca9dc
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-27.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-3.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-3.obj"
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+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-3.obj"
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index 0000000000000000000000000000000000000000..968e5f86733a5bb7fb8e9c5dd414bdb674636860
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-7.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-7.obj"
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index 0000000000000000000000000000000000000000..757e3ab2b760dbc5ae2b63d3312d80111cd7e733
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-9.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103307/textured_objs/original-9.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..f5d5af68c4a6b35870b315fdf98fce78fb053c87
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.mtl"
@@ -0,0 +1,8 @@
+newmtl material_0_0
+illum 4
+d 0.48
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..cc6f855bfdd986fdef4fe31f49f2de941e30b519
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-1.obj"
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+# SSTK version 0.8.0
+# 1
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-10.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-10.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/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\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-10.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-10.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..19a9646c69e3387b3c1098e564294199260ec4d2
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-10.obj"
@@ -0,0 +1,74 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-11.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-11.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..9181aa748b9bec00b6731a13eb5391dfac80c56e
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-11.obj"
@@ -0,0 +1,292 @@
+# SSTK version 0.8.0
+# 11
+mtllib original-11.mtl
+o 3dw.6a030b1836586b9f7e1c85c5c15da7fb/Model/mesh1/mesh1-geometry/material_3/component_0#mesh1-geometry
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-14.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-14.mtl"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-14.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-14.obj"
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index 0000000000000000000000000000000000000000..e64a50c601d04e5e9020dc8244dbedca86f0ccdb
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+# SSTK version 0.8.0
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-3.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-3.obj"
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index 0000000000000000000000000000000000000000..eaa6d60c892abc760f86596d6f2c609f8910406a
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+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-3.obj"
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index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-6.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-6.obj"
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index 0000000000000000000000000000000000000000..8819d0eefc05136469bee817f68e81003a70ff16
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+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-6.obj"
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.mtl"
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..b41ce44ef1147004a61ff446d427efa4f7973bcd
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-8.obj"
@@ -0,0 +1,122 @@
+# SSTK version 0.8.0
+# 8
+mtllib original-8.mtl
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diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.mtl" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.mtl"
new file mode 100644
index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.mtl"
@@ -0,0 +1,7 @@
+newmtl material_0_0
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+
diff --git "a/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.obj" "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.obj"
new file mode 100644
index 0000000000000000000000000000000000000000..9e54c5ad27e9b4188e8f946812e60b0b1b9737c4
--- /dev/null
+++ "b/assets/urdf/Stapler\357\274\2101\357\274\211/Stapler/103789/textured_objs/original-9.obj"
@@ -0,0 +1,74 @@
+# SSTK version 0.8.0
+# 9
+mtllib original-9.mtl
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