diff --git a/assets/peeler_combined/mesh/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.obj b/assets/peeler_combined/mesh/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e76e4e807dd87e1397e031deb8ea5e6efb1f83f
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.obj
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diff --git a/assets/peeler_combined/mesh/peeler_10_head_peeler_9_handle_h0_92_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_10_head_peeler_9_handle_h0_92_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..49ebf3bafdf02aec9ed8f2631a221beda1b6e2b8
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_peeler_9_handle_h0_92_hnd1_05.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_10_head_rectangular_handle_h1_07_hnd1_02.obj b/assets/peeler_combined/mesh/peeler_10_head_rectangular_handle_h1_07_hnd1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f57c7449aa8b10fa0d8f7e64eb92510d6a366574
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_rectangular_handle_h1_07_hnd1_02.obj
@@ -0,0 +1,9889 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_10_head_tool_cylinder_6_h0_95_hnd0_84.obj b/assets/peeler_combined/mesh/peeler_10_head_tool_cylinder_6_h0_95_hnd0_84.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8d9ddd3ed85b0177f9f74007120f8fbbbf56d21
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_tool_cylinder_6_h0_95_hnd0_84.obj
@@ -0,0 +1,9903 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.obj b/assets/peeler_combined/mesh/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ae988091416d4862d804de64d2ae748e32c3f381
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.obj
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_peeler_1_handle_h1_03_hnd1_04.obj b/assets/peeler_combined/mesh/peeler_11_head_peeler_1_handle_h1_03_hnd1_04.obj
new file mode 100644
index 0000000000000000000000000000000000000000..795504edb7c1d5bf11363a053aec3e2c86750b40
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_peeler_1_handle_h1_03_hnd1_04.obj
@@ -0,0 +1,9841 @@
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6816daca9468d42b681d19ca57f4101d3c7eca0
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_1_head_peeler_4_handle_h1_00_hnd1_15.obj b/assets/peeler_combined/mesh/peeler_1_head_peeler_4_handle_h1_00_hnd1_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6cad8c54a38a4c76d90a04a9738238b36aacffd1
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_peeler_4_handle_h1_00_hnd1_15.obj
@@ -0,0 +1,9969 @@
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_peeler_9_handle_h1_08_hnd1_10.obj b/assets/peeler_combined/mesh/peeler_1_head_peeler_9_handle_h1_08_hnd1_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eeafad915b51dd4d9c72cba155c3ba780ee3fbd7
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_peeler_9_handle_h1_08_hnd1_10.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_tool_cylinder_6_h1_00_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_1_head_tool_cylinder_6_h1_00_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78f832d15c4d1fe61d99bde8a7c98be138f5d3d9
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_tool_cylinder_6_h1_00_hnd1_05.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_3_head_peeler_1_handle_h1_03_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_3_head_peeler_1_handle_h1_03_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0df87277c7ed31da74238c20b85948600104b898
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_peeler_1_handle_h1_03_hnd1_01.obj
@@ -0,0 +1,9955 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.obj b/assets/peeler_combined/mesh/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67a1ea93d1c42ec0558c1488483f3ff7a62b6e51
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.obj
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_peeler_4_handle_h0_96_hnd1_02.obj b/assets/peeler_combined/mesh/peeler_3_head_peeler_4_handle_h0_96_hnd1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..167c6b6f9dbe172f297639d76810362282d375b9
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_peeler_4_handle_h0_96_hnd1_02.obj
@@ -0,0 +1,9983 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_3_head_peeler_9_handle_h0_98_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_3_head_peeler_9_handle_h0_98_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266e6d1977dcbbfae3a0cd4a30f2450b44357bf8
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_peeler_9_handle_h0_98_hnd0_97.obj
@@ -0,0 +1,9989 @@
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.obj b/assets/peeler_combined/mesh/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..83fcbd2b3adfc29f9b48f349131851a7c9b7d44d
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.obj
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_peeler_6_handle_h0_87_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_4_head_peeler_6_handle_h0_87_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7006fbbd3d75b81c95bdfa465888ecdbe59a7240
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_peeler_6_handle_h0_87_hnd1_01.obj
@@ -0,0 +1,9903 @@
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_rectangular_handle_h0_94_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_4_head_rectangular_handle_h0_94_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4267ca9532c66fa46b7295b2c1898fdac16ca04
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_rectangular_handle_h0_94_hnd0_96.obj
@@ -0,0 +1,9969 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_4_head_tool_cylinder_6_h0_94_hnd1_08.obj b/assets/peeler_combined/mesh/peeler_4_head_tool_cylinder_6_h0_94_hnd1_08.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b1f0376ac9d7a39b7ab217350ad383ef7b7a0f2
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_tool_cylinder_6_h0_94_hnd1_08.obj
@@ -0,0 +1,9983 @@
+# https://github.com/mikedh/trimesh
+v -0.02432234 -0.00175091 0.00074577
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_tool_hex_prism_12_h1_03_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_4_head_tool_hex_prism_12_h1_03_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0e19d40ce140565f596daec30715d325707b281
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_tool_hex_prism_12_h1_03_hnd0_96.obj
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.obj b/assets/peeler_combined/mesh/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8887c01a1a7a902bbcd0f527fed824917d7e002
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_5_head_peeler_1_handle_h0_97_hnd0_94.obj b/assets/peeler_combined/mesh/peeler_5_head_peeler_1_handle_h0_97_hnd0_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..885b9db8e92a072b97fe0b93a2d5d29e80651c59
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_peeler_1_handle_h0_97_hnd0_94.obj
@@ -0,0 +1,9993 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e7484b9c00d8ce07935549c4e2c9b87c72857e3
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_peeler_1_handle_h1_04_hnd1_12.obj b/assets/peeler_combined/mesh/peeler_6_head_peeler_1_handle_h1_04_hnd1_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a33eb74a8af5f1c89d835ece4ab9a04646a4282
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_peeler_1_handle_h1_04_hnd1_12.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_6_head_peeler_4_handle_h1_00_hnd1_09.obj b/assets/peeler_combined/mesh/peeler_6_head_peeler_4_handle_h1_00_hnd1_09.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12f4874331b85dde5538ee7ec7f6152f752729b2
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_peeler_4_handle_h1_00_hnd1_09.obj
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_peeler_9_handle_h0_92_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_6_head_peeler_9_handle_h0_92_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..194b9fe64209f06294aae2dc42119d32e18db6fe
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_peeler_9_handle_h0_92_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_rectangular_handle_h1_07_hnd1_02.obj b/assets/peeler_combined/mesh/peeler_6_head_rectangular_handle_h1_07_hnd1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f5844713345ba56641836f7a6b76bb587538f9d
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_rectangular_handle_h1_07_hnd1_02.obj
@@ -0,0 +1,9987 @@
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diff --git a/assets/peeler_combined/mesh/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.obj b/assets/peeler_combined/mesh/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8472fd90d4cc8f7df01bc20a705287ec8d60513
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.obj
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diff --git a/assets/peeler_combined/mesh/peeler_7_head_peeler_3_handle_h0_95_hnd1_04.obj b/assets/peeler_combined/mesh/peeler_7_head_peeler_3_handle_h0_95_hnd1_04.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c2915e5b4873f36adfe9c1096a6df932465a4eea
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_peeler_3_handle_h0_95_hnd1_04.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_7_head_peeler_4_handle_h0_94_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_7_head_peeler_4_handle_h0_94_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e2bd1431cf42ac1835067e34b1e862d35406fb7
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_peeler_4_handle_h0_94_hnd0_97.obj
@@ -0,0 +1,9987 @@
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_peeler_4_handle_h1_06_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_8_head_peeler_4_handle_h1_06_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..564774c0faf173a4d7e25049116bfc8887ccc5fc
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_peeler_4_handle_h1_06_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_peeler_6_handle_h0_86_hnd1_06.obj b/assets/peeler_combined/mesh/peeler_8_head_peeler_6_handle_h0_86_hnd1_06.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b61c0ab54e53d8868b8fe8d68a0be0a9c375717f
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_peeler_6_handle_h0_86_hnd1_06.obj
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_tool_cylinder_6_h1_10_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_8_head_tool_cylinder_6_h1_10_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..29b6708ebfe3ffb077ce550bf4a1f82576e26558
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_tool_cylinder_6_h1_10_hnd0_97.obj
@@ -0,0 +1,9881 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_8_head_tool_hex_prism_12_h1_13_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_8_head_tool_hex_prism_12_h1_13_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bc326c51a6fcac4be8a79ef6b0e21dc40131b35
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_tool_hex_prism_12_h1_13_hnd1_01.obj
@@ -0,0 +1,9927 @@
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_tool_rectangle_28_h1_01_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_8_head_tool_rectangle_28_h1_01_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3e9fa50bcaba941640fd9671983a28333b562ba
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_tool_rectangle_28_h1_01_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_tool_rectangle_28_h0_97_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_9_head_tool_rectangle_28_h0_97_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a06c5e348085d67068bd5d85a8f4be0b71f98f2
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_tool_rectangle_28_h0_97_hnd1_05.obj
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diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..57a98a742edc7ac4da74daab18a2289f18ca837d
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540">
+    <link name="peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_1_handle_h0_93_hnd0_98_540.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c64e8a749e395e3eec7b3259702f49b61e87a832
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_1_handle_h1_02_hnd1_04">
+    <link name="peeler_10_head_peeler_1_handle_h1_02_hnd1_04">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbf40fb56f7e44cea42892fda0fe34c76ce0aef9
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_3_handle_h1_02_hnd1_09">
+    <link name="peeler_10_head_peeler_3_handle_h1_02_hnd1_09">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_3_handle_h1_02_hnd1_09.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_03_hnd0_98.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_03_hnd0_98.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1cbd974598efe504de56dfdf3382945c9e5cd394
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_3_handle_h1_03_hnd0_98.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_3_handle_h1_03_hnd0_98">
+    <link name="peeler_10_head_peeler_3_handle_h1_03_hnd0_98">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_3_handle_h1_03_hnd0_98.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_3_handle_h1_03_hnd0_98.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4a4ad7dcb6732c897d7ba8c53d84e0051391fe47
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807">
+    <link name="peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_4_handle_h1_02_hnd1_14_807.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b0ff4d5ed4b8cba4e430f18bbf1b8e1f4771dd1c
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_6_handle_h0_93_hnd1_03">
+    <link name="peeler_10_head_peeler_6_handle_h0_93_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h0_99_hnd0_81.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h0_99_hnd0_81.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cee961f18190485565dafdf9b0b261a538c9cc85
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h0_99_hnd0_81.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_9_handle_h0_99_hnd0_81">
+    <link name="peeler_10_head_peeler_9_handle_h0_99_hnd0_81">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_9_handle_h0_99_hnd0_81.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_9_handle_h0_99_hnd0_81.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801.urdf b/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0bb92a11f78e223a289babe00c291f2f5e99423a
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801">
+    <link name="peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_peeler_9_handle_h1_08_hnd1_17_801.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_rectangular_handle_h1_06_hnd1_00.urdf b/assets/peeler_combined/urdf/peeler_10_head_rectangular_handle_h1_06_hnd1_00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48ab3882dccd4a3adeb25ff834e3798128009401
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_rectangular_handle_h1_06_hnd1_00.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_rectangular_handle_h1_06_hnd1_00">
+    <link name="peeler_10_head_rectangular_handle_h1_06_hnd1_00">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_rectangular_handle_h1_06_hnd1_00.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_rectangular_handle_h1_06_hnd1_00.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_tool_cylinder_6_h0_93_hnd0_99.urdf b/assets/peeler_combined/urdf/peeler_10_head_tool_cylinder_6_h0_93_hnd0_99.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..845c9a94505eb9b459cd4b9f4569bf380dbdfdec
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_tool_cylinder_6_h0_93_hnd0_99.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_tool_cylinder_6_h0_93_hnd0_99">
+    <link name="peeler_10_head_tool_cylinder_6_h0_93_hnd0_99">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_cylinder_6_h0_93_hnd0_99.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_cylinder_6_h0_93_hnd0_99.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.urdf b/assets/peeler_combined/urdf/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a6308bef3cc3be3835a6111447f2e172421b35cc
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02">
+    <link name="peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_hex_prism_12_h0_88_hnd1_02.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_88_hnd0_99.urdf b/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_88_hnd0_99.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e26ad5e45a2c46c0f5a311373b3acb580149fdd5
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_88_hnd0_99.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_tool_rectangle_28_h0_88_hnd0_99">
+    <link name="peeler_10_head_tool_rectangle_28_h0_88_hnd0_99">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_rectangle_28_h0_88_hnd0_99.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_rectangle_28_h0_88_hnd0_99.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445.urdf b/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84f42fcc9b1979204a382dfb342bab12cedb2dcd
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445">
+    <link name="peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_10_head_tool_rectangle_28_h0_99_hnd0_91_445.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_peeler_3_handle_h1_03_hnd1_01.urdf b/assets/peeler_combined/urdf/peeler_11_head_peeler_3_handle_h1_03_hnd1_01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cd0e89c36bfebb18511afe15b8d23fbb59e54673
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_peeler_3_handle_h1_03_hnd1_01.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_peeler_3_handle_h1_03_hnd1_01">
+    <link name="peeler_11_head_peeler_3_handle_h1_03_hnd1_01">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_3_handle_h1_03_hnd1_01.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_3_handle_h1_03_hnd1_01.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608.urdf b/assets/peeler_combined/urdf/peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83eec013c897eeedee0273e12af66a9c2ab67310
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608">
+    <link name="peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_peeler_6_handle_h0_80_hnd0_95_608.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3af812b8d2fb3f93636e614ab38861adedbf248f
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_cylinder_6_h1_06_hnd1_04">
+    <link name="peeler_11_head_tool_cylinder_6_h1_06_hnd1_04">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8ce5f4c45bdcb160aeb763804414295b2cf578cb
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397">
+    <link name="peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_78_hnd0_99_397.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5b53668350c5ef7cf6de375c4dbdf0882618880
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02">
+    <link name="peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b77f2c7a02098b4013bf5eb8bd3089c194cc8c44
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89">
+    <link name="peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_hex_prism_12_h0_96_hnd0_89.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b4e1a53630f88d9f1eb8fdde4a20b41cdff3bdbe
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169">
+    <link name="peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_rectangle_28_h0_91_hnd0_85_169.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.urdf b/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fda7c8baa29a35385954fd1c67c6f7ea059cd5ea
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_11_head_tool_rectangle_28_h1_10_hnd1_01">
+    <link name="peeler_11_head_tool_rectangle_28_h1_10_hnd1_01">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h0_86_hnd1_04.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h0_86_hnd1_04.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f631d3779f17b37b1da150446f9775b073fbf29
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h0_86_hnd1_04.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_1_handle_h0_86_hnd1_04">
+    <link name="peeler_1_head_peeler_1_handle_h0_86_hnd1_04">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h0_86_hnd1_04.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h0_86_hnd1_04.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c17f6385fd3a5a611b3de8c418ad1e15189f9fc
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968">
+    <link name="peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h1_04_hnd1_03_968.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..256240d11b82e26830c6b4a19c15d753e7396f48
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_1_handle_h1_09_hnd1_05">
+    <link name="peeler_1_head_peeler_1_handle_h1_09_hnd1_05">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ae43dadd083925caa0b5f6bbfe25232ba1fea557
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_3_handle_h0_92_hnd0_97">
+    <link name="peeler_1_head_peeler_3_handle_h0_92_hnd0_97">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_3_handle_h0_92_hnd0_97.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.urdf
new file mode 100644
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--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_6_handle_h0_89_hnd0_91">
+    <link name="peeler_1_head_peeler_6_handle_h0_89_hnd0_91">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_06_hnd1_01.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_06_hnd1_01.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..36fd21e51711db494da3b88ecf822f7cc99592c1
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_06_hnd1_01.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_9_handle_h1_06_hnd1_01">
+    <link name="peeler_1_head_peeler_9_handle_h1_06_hnd1_01">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_9_handle_h1_06_hnd1_01.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_9_handle_h1_06_hnd1_01.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812.urdf b/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..47869abda9793c80175db77839e93f3175d3e1c1
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+++ b/assets/peeler_combined/urdf/peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812">
+    <link name="peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812.obj"/>
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+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_peeler_9_handle_h1_17_hnd0_89_812.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00.urdf b/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..30503809a6678904e3f94d133c82fb1e6bb46ea5
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00">
+    <link name="peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_hex_prism_12_h0_85_hnd1_00.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.urdf b/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cf8dd1bf8b6ef3dfd0ba6bef1770ae8bf5ad60d
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92">
+    <link name="peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668.urdf b/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d7dcec9046e88fec24ec4832e0fd73e402a93aed
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668">
+    <link name="peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_rectangle_28_h0_92_hnd0_98_668.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_94_hnd0_95.urdf b/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_94_hnd0_95.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7a1ce2f5bd7bb744036062ef651096f68b84803e
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_1_head_tool_rectangle_28_h0_94_hnd0_95.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_1_head_tool_rectangle_28_h0_94_hnd0_95">
+    <link name="peeler_1_head_tool_rectangle_28_h0_94_hnd0_95">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_rectangle_28_h0_94_hnd0_95.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_1_head_tool_rectangle_28_h0_94_hnd0_95.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_13_hnd0_99.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_13_hnd0_99.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bdc8ccff6b8fa9fb72609716b697f64cd44aeb2
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_13_hnd0_99.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_1_handle_h1_13_hnd0_99">
+    <link name="peeler_3_head_peeler_1_handle_h1_13_hnd0_99">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_1_handle_h1_13_hnd0_99.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_1_handle_h1_13_hnd0_99.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cf0e3f57597d244e6d1df05c864ae8077324bc9b
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942">
+    <link name="peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_1_handle_h1_22_hnd1_06_942.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e3c0b3e729b114d05e73f1927d49275ae9f57ebd
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691">
+    <link name="peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h0_97_hnd0_98_691.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_01_hnd1_08.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_01_hnd1_08.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fbaea6d13f9346e948b1f07e2b7eebc84c9fa8d0
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_01_hnd1_08.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_3_handle_h1_01_hnd1_08">
+    <link name="peeler_3_head_peeler_3_handle_h1_01_hnd1_08">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h1_01_hnd1_08.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h1_01_hnd1_08.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b11e45b5786c0a74b440a132df56a2b65ce0eed
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_3_handle_h1_05_hnd0_94">
+    <link name="peeler_3_head_peeler_3_handle_h1_05_hnd0_94">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_3_handle_h1_05_hnd0_94.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31eafac4d885483880d8e36494ad6a36f822c627
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813">
+    <link name="peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_4_handle_h1_05_hnd0_96_813.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_peeler_6_handle_h0_96_hnd0_95.urdf b/assets/peeler_combined/urdf/peeler_3_head_peeler_6_handle_h0_96_hnd0_95.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..993101d8e47bba6f9abf9e10090e84e7051724af
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_peeler_6_handle_h0_96_hnd0_95.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_peeler_6_handle_h0_96_hnd0_95">
+    <link name="peeler_3_head_peeler_6_handle_h0_96_hnd0_95">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_6_handle_h0_96_hnd0_95.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_peeler_6_handle_h0_96_hnd0_95.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_rectangular_handle_h0_94_hnd0_99.urdf b/assets/peeler_combined/urdf/peeler_3_head_rectangular_handle_h0_94_hnd0_99.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..37073760dd0735123cb91bfbabf97235b5b026e4
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_rectangular_handle_h0_94_hnd0_99.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_rectangular_handle_h0_94_hnd0_99">
+    <link name="peeler_3_head_rectangular_handle_h0_94_hnd0_99">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_rectangular_handle_h0_94_hnd0_99.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_rectangular_handle_h0_94_hnd0_99.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784.urdf b/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..545ec0cc56bd9acb94f6ab9a7eb587028b2a4965
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784">
+    <link name="peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_cylinder_6_h0_99_hnd0_91_784.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.urdf b/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77d081dc5e213232d6bdec45713a3a6f94c8435e
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_tool_cylinder_6_h1_01_hnd0_93">
+    <link name="peeler_3_head_tool_cylinder_6_h1_01_hnd0_93">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.urdf b/assets/peeler_combined/urdf/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a9399d13fe60991fa155f7d54af12c9442c0240c
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+++ b/assets/peeler_combined/urdf/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00">
+    <link name="peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_hex_prism_12_h1_09_hnd1_00.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_3_head_tool_rectangle_28_h1_00_hnd1_04.urdf b/assets/peeler_combined/urdf/peeler_3_head_tool_rectangle_28_h1_00_hnd1_04.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e50b2beea5e0c4a4f306b878a92d0898be8350e7
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_3_head_tool_rectangle_28_h1_00_hnd1_04.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_3_head_tool_rectangle_28_h1_00_hnd1_04">
+    <link name="peeler_3_head_tool_rectangle_28_h1_00_hnd1_04">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_rectangle_28_h1_00_hnd1_04.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_3_head_tool_rectangle_28_h1_00_hnd1_04.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.urdf b/assets/peeler_combined/urdf/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c68dba3ae37627bdf65911b0bf5252f3cb122392
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_peeler_1_handle_h0_89_hnd1_00">
+    <link name="peeler_4_head_peeler_1_handle_h0_89_hnd1_00">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_peeler_6_handle_h0_95_hnd0_92.urdf b/assets/peeler_combined/urdf/peeler_4_head_peeler_6_handle_h0_95_hnd0_92.urdf
new file mode 100644
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--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_peeler_6_handle_h0_95_hnd0_92.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_peeler_6_handle_h0_95_hnd0_92">
+    <link name="peeler_4_head_peeler_6_handle_h0_95_hnd0_92">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_6_handle_h0_95_hnd0_92.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_6_handle_h0_95_hnd0_92.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.urdf b/assets/peeler_combined/urdf/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db517caf579d58947033c8560e1141e9dcf8ce35
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_peeler_9_handle_h0_86_hnd1_00">
+    <link name="peeler_4_head_peeler_9_handle_h0_86_hnd1_00">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.obj"/>
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+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h0_95_hnd1_15_664.urdf b/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h0_95_hnd1_15_664.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bcf6ab2b843d2b71939c442fa8fb44ab829c8094
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h0_95_hnd1_15_664.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_rectangular_handle_h0_95_hnd1_15_664">
+    <link name="peeler_4_head_rectangular_handle_h0_95_hnd1_15_664">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_rectangular_handle_h0_95_hnd1_15_664.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_rectangular_handle_h0_95_hnd1_15_664.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h1_02_hnd1_10.urdf b/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h1_02_hnd1_10.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a87c6619d39e5f32b1b7108e5c15140c327c6d46
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_rectangular_handle_h1_02_hnd1_10.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_rectangular_handle_h1_02_hnd1_10">
+    <link name="peeler_4_head_rectangular_handle_h1_02_hnd1_10">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_rectangular_handle_h1_02_hnd1_10.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_rectangular_handle_h1_02_hnd1_10.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988.urdf b/assets/peeler_combined/urdf/peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..440ae47ec2d9ee3d0ebb248ac03364d72e3e7b1e
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988">
+    <link name="peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_cylinder_6_h1_11_hnd1_01_988.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02.urdf b/assets/peeler_combined/urdf/peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bdabb054a95cb653ad5a055bc9168aa0b62fd91d
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02">
+    <link name="peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_hex_prism_12_h0_95_hnd1_02.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.urdf b/assets/peeler_combined/urdf/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..49a0c517b7fd44b7dd967a4ce14bb6cbfcaba126
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_4_head_tool_rectangle_28_h1_08_hnd0_98">
+    <link name="peeler_4_head_tool_rectangle_28_h1_08_hnd0_98">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_4_head_tool_rectangle_28_h1_08_hnd0_98.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_1_handle_h0_90_hnd0_99.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_1_handle_h0_90_hnd0_99.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..34ce1329aefa5fe6252ba7f5b576858caa4aae29
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_1_handle_h0_90_hnd0_99.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_1_handle_h0_90_hnd0_99">
+    <link name="peeler_5_head_peeler_1_handle_h0_90_hnd0_99">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_1_handle_h0_90_hnd0_99.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_1_handle_h0_90_hnd0_99.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..810c5f2dfb9a5048952d050e8ce3029953e1ad87
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_3_handle_h0_95_hnd1_03">
+    <link name="peeler_5_head_peeler_3_handle_h0_95_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_3_handle_h0_95_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..03126164e84719f909c0914d13fb83cec3d55175
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_4_handle_h0_96_hnd0_97">
+    <link name="peeler_5_head_peeler_4_handle_h0_96_hnd0_97">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aaaaa86582519b5b33f09a8e744f6a1440d340ba
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853">
+    <link name="peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_4_handle_h1_09_hnd1_20_853.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_6_handle_h0_98_hnd0_98.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_6_handle_h0_98_hnd0_98.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c71e6c4572eb7c4e1d540d5f67f7686bf938b07e
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_6_handle_h0_98_hnd0_98.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_6_handle_h0_98_hnd0_98">
+    <link name="peeler_5_head_peeler_6_handle_h0_98_hnd0_98">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_6_handle_h0_98_hnd0_98.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_6_handle_h0_98_hnd0_98.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750.urdf b/assets/peeler_combined/urdf/peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ec35ce6b21e8d7e9e48ecfe1384a1f5004e39c2
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750">
+    <link name="peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_peeler_9_handle_h1_02_hnd1_11_750.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.urdf b/assets/peeler_combined/urdf/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d7104921503072a418676a2f32cc2af6561f07d
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_tool_cylinder_6_h1_02_hnd0_96">
+    <link name="peeler_5_head_tool_cylinder_6_h1_02_hnd0_96">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.urdf b/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f46f0c64411108961095b153104cc5ecdcdf3bd3
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07">
+    <link name="peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08.urdf b/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1efe93b87395717e44ab41ac93bbb418446c8d74
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08">
+    <link name="peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_5_head_tool_hex_prism_12_h1_09_hnd1_08.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877.urdf b/assets/peeler_combined/urdf/peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b27fce98bb080b5ab0dada866bc5d9933a26ffd6
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877">
+    <link name="peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_1_handle_h1_04_hnd1_07_877.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.urdf b/assets/peeler_combined/urdf/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b8ce48e44772403dc726ae8e52e1c4be8001a7cb
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_peeler_6_handle_h1_03_hnd0_89">
+    <link name="peeler_6_head_peeler_6_handle_h1_03_hnd0_89">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606.urdf b/assets/peeler_combined/urdf/peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..063005f57a49b2592ef3b1c5c31200486fe957cd
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606">
+    <link name="peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_peeler_9_handle_h1_07_hnd1_23_606.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c113fe4ea7f2418716e5f3d46a8e344bb22e0e66
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_tool_cylinder_6_h0_90_hnd1_03">
+    <link name="peeler_6_head_tool_cylinder_6_h0_90_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574.urdf b/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01f8d92cad74873143727930565042b7345f3a00
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574">
+    <link name="peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_cylinder_6_h0_99_hnd1_21_574.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491.urdf b/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2662977a793b409d7b30ceaf8df4233f71df5c54
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491">
+    <link name="peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_88_491.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.urdf b/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b1c38528d2201613da384f5057c600c43ef3e42
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90">
+    <link name="peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.urdf b/assets/peeler_combined/urdf/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1767839bae6d933d7caaa1d7fe2565e906d4f98
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_peeler_1_handle_h0_88_hnd1_06">
+    <link name="peeler_7_head_peeler_1_handle_h0_88_hnd1_06">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_1_handle_h0_88_hnd1_06.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h0_94_hnd0_84.urdf b/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h0_94_hnd0_84.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f1e14e4734e81b6755218bb3ffaa1c5d717b932b
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h0_94_hnd0_84.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_peeler_4_handle_h0_94_hnd0_84">
+    <link name="peeler_7_head_peeler_4_handle_h0_94_hnd0_84">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_4_handle_h0_94_hnd0_84.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_4_handle_h0_94_hnd0_84.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675.urdf b/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d2006ef8b1fdb065f9ef5e95212d60243c60ffeb
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675">
+    <link name="peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_4_handle_h1_07_hnd1_06_675.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724.urdf b/assets/peeler_combined/urdf/peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..12810ed7306503a50314f1c165d0aa7e1928ee88
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724">
+    <link name="peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_6_handle_h1_22_hnd0_86_724.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539.urdf b/assets/peeler_combined/urdf/peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ad0bf49c4f009a970667610dca2525102dc1d25
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539">
+    <link name="peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_peeler_9_handle_h1_03_hnd1_18_539.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_7_head_rectangular_handle_h0_90_hnd0_87.urdf b/assets/peeler_combined/urdf/peeler_7_head_rectangular_handle_h0_90_hnd0_87.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..853c8d868483ca65e0ab33bcc60f796ba5bf5099
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_7_head_rectangular_handle_h0_90_hnd0_87.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_7_head_rectangular_handle_h0_90_hnd0_87">
+    <link name="peeler_7_head_rectangular_handle_h0_90_hnd0_87">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_rectangular_handle_h0_90_hnd0_87.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_7_head_rectangular_handle_h0_90_hnd0_87.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.urdf b/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d8b6c4aeecf4b22d6a3752ea0a28be9d01091f9
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_8_head_peeler_1_handle_h0_96_hnd0_92">
+    <link name="peeler_8_head_peeler_1_handle_h0_96_hnd0_92">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947.urdf b/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..153874b58a83382fbe3310341a3501adebc7bdad
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947">
+    <link name="peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_1_handle_h1_16_hnd0_91_947.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_8_head_peeler_4_handle_h0_97_hnd0_89.urdf b/assets/peeler_combined/urdf/peeler_8_head_peeler_4_handle_h0_97_hnd0_89.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1b4e5e7863a105ef79450fd29db15f9684311baa
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_8_head_peeler_4_handle_h0_97_hnd0_89.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_8_head_peeler_4_handle_h0_97_hnd0_89">
+    <link name="peeler_8_head_peeler_4_handle_h0_97_hnd0_89">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_4_handle_h0_97_hnd0_89.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_4_handle_h0_97_hnd0_89.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_8_head_peeler_6_handle_h1_01_hnd0_97.urdf b/assets/peeler_combined/urdf/peeler_8_head_peeler_6_handle_h1_01_hnd0_97.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f4ae8e4fecd3efa309c4c0166025ca52ea2c5bf
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_8_head_peeler_6_handle_h1_01_hnd0_97.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_8_head_peeler_6_handle_h1_01_hnd0_97">
+    <link name="peeler_8_head_peeler_6_handle_h1_01_hnd0_97">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_6_handle_h1_01_hnd0_97.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_peeler_6_handle_h1_01_hnd0_97.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183.urdf b/assets/peeler_combined/urdf/peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1a935cec90d7fd75557ffa663de34fbce805224f
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183">
+    <link name="peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_8_head_tool_cylinder_6_h1_00_hnd1_00_183.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..18c9d82956ee1fba14380cd618e7e6cd10a19a86
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_1_handle_h1_05_hnd1_03">
+    <link name="peeler_9_head_peeler_1_handle_h1_05_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_3_handle_h0_91_hnd0_85.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_3_handle_h0_91_hnd0_85.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcd03c9614691d6d67741e63dd2f1ff6d7755e96
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_3_handle_h0_91_hnd0_85.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_3_handle_h0_91_hnd0_85">
+    <link name="peeler_9_head_peeler_3_handle_h0_91_hnd0_85">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_3_handle_h0_91_hnd0_85.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_3_handle_h0_91_hnd0_85.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..db06a390ad1dcf0f4632316ec0b1a72767daa375
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_4_handle_h0_96_hnd0_95">
+    <link name="peeler_9_head_peeler_4_handle_h0_96_hnd0_95">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h1_00_hnd1_02.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h1_00_hnd1_02.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a76f7eed5c82cf746317db5743cf8c8db60a7c29
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_4_handle_h1_00_hnd1_02.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_4_handle_h1_00_hnd1_02">
+    <link name="peeler_9_head_peeler_4_handle_h1_00_hnd1_02">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_4_handle_h1_00_hnd1_02.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_4_handle_h1_00_hnd1_02.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bbd7430ca2672a4e0dd3796e203b692eac300529
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+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191">
+    <link name="peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_9_handle_h0_91_hnd1_06_191.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.urdf b/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10c6bc848a96aa22568a59ed4f42c88944960643
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_peeler_9_handle_h1_07_hnd0_93">
+    <link name="peeler_9_head_peeler_9_handle_h1_07_hnd0_93">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_rectangular_handle_h0_99_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_9_head_rectangular_handle_h0_99_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..254b89affe9018b101cf82260c723b0abc75da8e
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_rectangular_handle_h0_99_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_rectangular_handle_h0_99_hnd1_03">
+    <link name="peeler_9_head_rectangular_handle_h0_99_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_rectangular_handle_h0_99_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_rectangular_handle_h0_99_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ac16bca636f35f0414e0e93ed94f67867f17b18d
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_tool_cylinder_6_h0_90_hnd1_03">
+    <link name="peeler_9_head_tool_cylinder_6_h0_90_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.urdf b/assets/peeler_combined/urdf/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d23e22203b2ffd5f8ed239805fcafcf5a4d9cf79
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09">
+    <link name="peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h0_92_hnd1_03.urdf b/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h0_92_hnd1_03.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c1d26a1cbdc1096f0bb09e075bdc6a2b4a88c80b
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h0_92_hnd1_03.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_tool_rectangle_28_h0_92_hnd1_03">
+    <link name="peeler_9_head_tool_rectangle_28_h0_92_hnd1_03">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_rectangle_28_h0_92_hnd1_03.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_rectangle_28_h0_92_hnd1_03.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314.urdf b/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..86ce2fe4f74d5c4306af2a9c68a2e7c226d8c250
--- /dev/null
+++ b/assets/peeler_combined/urdf/peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314">
+    <link name="peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/peeler_9_head_tool_rectangle_28_h1_05_hnd0_91_314.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>