diff --git a/.gitignore b/.gitignore
index 6ac860f..93a670e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,7 +3,6 @@ assets/train_assembly
 assets/test_assembly
 plan_sequence/generator/network/*.pt
 *.sdf
-*.obj
 *.dae
 *.zip
 
diff --git a/assets/beam_assembly/original/0.obj b/assets/beam_assembly/original/0.obj
new file mode 100644
index 0000000..a552904
--- /dev/null
+++ b/assets/beam_assembly/original/0.obj
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diff --git a/assets/beam_assembly/original/id_map.json b/assets/beam_assembly/original/id_map.json
deleted file mode 100644
index d9343c5..0000000
--- a/assets/beam_assembly/original/id_map.json
+++ /dev/null
@@ -1 +0,0 @@
-{"0": "Table_Base - Feet-1.obj", "1": "Table_Base - Feet-2.obj", "2": "Table_Base - Upright-1.obj", "3": "Table_Base - Upright-2.obj", "4": "Table_Base - Supports-1.obj", "5": "Table_Base - Supports-2.obj", "6": "Table_Base - Top-1.obj"}
\ No newline at end of file
diff --git a/assets/beam_assembly/original/robot.json b/assets/beam_assembly/original/robot.json
deleted file mode 100644
index 30955ac..0000000
--- a/assets/beam_assembly/original/robot.json
+++ /dev/null
@@ -1,34 +0,0 @@
-{
-    "arm": {
-        "base_pos": [-21.25, -30.0, 0.0],
-        "base_angle": 0.0,
-        "scale": 1.0,
-        "rest_q": [0.63879051, -0.41713369, 0.28274334, 0.65100781, 0.13089969, 1.0559242, 0.82030475]
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-            "base_direction": [0.0, 0.0, 1.0]
-        }
-    }
-}
\ No newline at end of file
diff --git a/assets/box/cube.obj b/assets/box/cube.obj
new file mode 100644
index 0000000..3bbffd0
--- /dev/null
+++ b/assets/box/cube.obj
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diff --git a/assets/box/cube_dense.obj b/assets/box/cube_dense.obj
new file mode 100644
index 0000000..5d0188e
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diff --git a/assets/box/cube_with_normal.obj b/assets/box/cube_with_normal.obj
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diff --git a/assets/panda/collision/finger.obj b/assets/panda/collision/finger.obj
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diff --git a/assets/panda/collision/hand.obj b/assets/panda/collision/hand.obj
new file mode 100644
index 0000000..fbe3c76
--- /dev/null
+++ b/assets/panda/collision/hand.obj
@@ -0,0 +1,303 @@
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diff --git a/assets/panda/visual/finger.obj b/assets/panda/visual/finger.obj
new file mode 100644
index 0000000..ad86a70
--- /dev/null
+++ b/assets/panda/visual/finger.obj
@@ -0,0 +1,943 @@
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\ No newline at end of file
diff --git a/assets/robotiq_140/collision/inner_finger_coarse.obj b/assets/robotiq_140/collision/inner_finger_coarse.obj
new file mode 100644
index 0000000..c2c6c0a
--- /dev/null
+++ b/assets/robotiq_140/collision/inner_finger_coarse.obj
@@ -0,0 +1,219 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/assets/robotiq_140/collision/inner_knuckle_coarse.obj b/assets/robotiq_140/collision/inner_knuckle_coarse.obj
new file mode 100644
index 0000000..7458433
--- /dev/null
+++ b/assets/robotiq_140/collision/inner_knuckle_coarse.obj
@@ -0,0 +1,165 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/robotiq_140/collision/outer_finger_coarse.obj b/assets/robotiq_140/collision/outer_finger_coarse.obj
new file mode 100644
index 0000000..8f2903e
--- /dev/null
+++ b/assets/robotiq_140/collision/outer_finger_coarse.obj
@@ -0,0 +1,351 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/robotiq_140/collision/outer_knuckle_coarse.obj b/assets/robotiq_140/collision/outer_knuckle_coarse.obj
new file mode 100644
index 0000000..c0ec5e7
--- /dev/null
+++ b/assets/robotiq_140/collision/outer_knuckle_coarse.obj
@@ -0,0 +1,294 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/robotiq_140/collision/pad_coarse.obj b/assets/robotiq_140/collision/pad_coarse.obj
new file mode 100644
index 0000000..43b40b6
--- /dev/null
+++ b/assets/robotiq_140/collision/pad_coarse.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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+v -1.00000000 -0.32500000 2.50000000
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\ No newline at end of file
diff --git a/assets/robotiq_140/collision/robotiq_base_coarse.obj b/assets/robotiq_140/collision/robotiq_base_coarse.obj
new file mode 100644
index 0000000..46ff496
--- /dev/null
+++ b/assets/robotiq_140/collision/robotiq_base_coarse.obj
@@ -0,0 +1,2592 @@
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diff --git a/assets/robotiq_140/visual/inner_finger_fine.obj b/assets/robotiq_140/visual/inner_finger_fine.obj
new file mode 100644
index 0000000..9681832
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diff --git a/assets/robotiq_140/visual/inner_knuckle_fine.obj b/assets/robotiq_140/visual/inner_knuckle_fine.obj
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diff --git a/assets/robotiq_140/visual/outer_finger_fine.obj b/assets/robotiq_140/visual/outer_finger_fine.obj
new file mode 100644
index 0000000..666bd24
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diff --git a/assets/robotiq_140/visual/outer_knuckle_fine.obj b/assets/robotiq_140/visual/outer_knuckle_fine.obj
new file mode 100644
index 0000000..57dc034
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diff --git a/assets/robotiq_140/visual/pad_fine.obj b/assets/robotiq_140/visual/pad_fine.obj
new file mode 100644
index 0000000..43b40b6
--- /dev/null
+++ b/assets/robotiq_140/visual/pad_fine.obj
@@ -0,0 +1,21 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/assets/robotiq_140/visual/robotiq_base_fine.obj b/assets/robotiq_140/visual/robotiq_base_fine.obj
new file mode 100644
index 0000000..4604684
--- /dev/null
+++ b/assets/robotiq_140/visual/robotiq_base_fine.obj
@@ -0,0 +1,31650 @@
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diff --git a/assets/robotiq_85/collision/inner_finger_coarse.obj b/assets/robotiq_85/collision/inner_finger_coarse.obj
new file mode 100644
index 0000000..5d1f77b
--- /dev/null
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diff --git a/assets/robotiq_85/collision/inner_knuckle_coarse.obj b/assets/robotiq_85/collision/inner_knuckle_coarse.obj
new file mode 100644
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diff --git a/assets/robotiq_85/collision/outer_finger_coarse.obj b/assets/robotiq_85/collision/outer_finger_coarse.obj
new file mode 100644
index 0000000..25508a7
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diff --git a/assets/robotiq_85/visual/inner_finger_fine.obj b/assets/robotiq_85/visual/inner_finger_fine.obj
new file mode 100644
index 0000000..83ad127
--- /dev/null
+++ b/assets/robotiq_85/visual/inner_finger_fine.obj
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diff --git a/assets/robotiq_85/visual/inner_knuckle_fine.obj b/assets/robotiq_85/visual/inner_knuckle_fine.obj
new file mode 100644
index 0000000..f9361b7
--- /dev/null
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diff --git a/assets/robotiq_85/visual/outer_finger_fine.obj b/assets/robotiq_85/visual/outer_finger_fine.obj
new file mode 100644
index 0000000..0c12114
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diff --git a/assets/robotiq_85/visual/outer_knuckle_fine.obj b/assets/robotiq_85/visual/outer_knuckle_fine.obj
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diff --git a/assets/xarm7/collision/link1.obj b/assets/xarm7/collision/link1.obj
new file mode 100644
index 0000000..c4f2496
--- /dev/null
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diff --git a/assets/xarm7/collision/link1_vhacd.obj b/assets/xarm7/collision/link1_vhacd.obj
new file mode 100644
index 0000000..b65ab82
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diff --git a/assets/xarm7/collision/link2.obj b/assets/xarm7/collision/link2.obj
new file mode 100644
index 0000000..571700c
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diff --git a/assets/xarm7/collision/link2_vhacd.obj b/assets/xarm7/collision/link2_vhacd.obj
new file mode 100644
index 0000000..e66797e
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diff --git a/assets/xarm7/collision/link3.obj b/assets/xarm7/collision/link3.obj
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diff --git a/assets/xarm7/collision/link3_vhacd.obj b/assets/xarm7/collision/link3_vhacd.obj
new file mode 100644
index 0000000..af389de
--- /dev/null
+++ b/assets/xarm7/collision/link3_vhacd.obj
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diff --git a/assets/xarm7/collision/link4.obj b/assets/xarm7/collision/link4.obj
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index 0000000..f963d9b
--- /dev/null
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diff --git a/assets/xarm7/collision/link4_vhacd.obj b/assets/xarm7/collision/link4_vhacd.obj
new file mode 100644
index 0000000..93b2438
--- /dev/null
+++ b/assets/xarm7/collision/link4_vhacd.obj
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diff --git a/assets/xarm7/collision/link5.obj b/assets/xarm7/collision/link5.obj
new file mode 100644
index 0000000..07981cc
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diff --git a/assets/xarm7/collision/link5_vhacd.obj b/assets/xarm7/collision/link5_vhacd.obj
new file mode 100644
index 0000000..81438c8
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diff --git a/assets/xarm7/collision/link6.obj b/assets/xarm7/collision/link6.obj
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diff --git a/assets/xarm7/collision/link6_vhacd.obj b/assets/xarm7/collision/link6_vhacd.obj
new file mode 100644
index 0000000..a118a8c
--- /dev/null
+++ b/assets/xarm7/collision/link6_vhacd.obj
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diff --git a/assets/xarm7/collision/link7_vhacd.obj b/assets/xarm7/collision/link7_vhacd.obj
new file mode 100644
index 0000000..5179404
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diff --git a/assets/xarm7/collision/linkbase_vhacd.obj b/assets/xarm7/collision/linkbase_vhacd.obj
new file mode 100644
index 0000000..4397f57
--- /dev/null
+++ b/assets/xarm7/collision/linkbase_vhacd.obj
@@ -0,0 +1,2056 @@
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diff --git a/assets/xarm7/visual/link2_smooth.obj b/assets/xarm7/visual/link2_smooth.obj
new file mode 100644
index 0000000..6fe9687
--- /dev/null
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diff --git a/assets/xarm7/visual/link3_smooth.obj b/assets/xarm7/visual/link3_smooth.obj
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index 0000000..721a8d7
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diff --git a/assets/xarm7/visual/linkbase_smooth.obj b/assets/xarm7/visual/linkbase_smooth.obj
new file mode 100644
index 0000000..80e3351
--- /dev/null
+++ b/assets/xarm7/visual/linkbase_smooth.obj
@@ -0,0 +1,66567 @@
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+
+# End of File
\ No newline at end of file