diff --git a/assets/peeler_combined/mesh/material.mtl b/assets/peeler_combined/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7d4f044bca1d7733b1c98d579c7cc04933a0f7a5
--- /dev/null
+++ b/assets/peeler_combined/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.obj b/assets/peeler_combined/mesh/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d34b3b232400c05f9f8e02624878b7ddc3ef822
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_peeler_1_handle_h1_02_hnd1_04.obj
@@ -0,0 +1,9903 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_10_head_peeler_4_handle_h0_92_hnd1_09.obj b/assets/peeler_combined/mesh/peeler_10_head_peeler_4_handle_h0_92_hnd1_09.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d5b0618025fa74f49b0cf66fcbc0ce30f9be9b2
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_peeler_4_handle_h0_92_hnd1_09.obj
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diff --git a/assets/peeler_combined/mesh/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9abf0b9c5296aa6ccd217ad8494f87d41f669b9
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_peeler_6_handle_h0_93_hnd1_03.obj
@@ -0,0 +1,9879 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_10_head_tool_rectangle_28_h0_96_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_10_head_tool_rectangle_28_h0_96_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0dd9bf40bd27f3a3335b9785c1377fba05c93994
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_10_head_tool_rectangle_28_h0_96_hnd1_03.obj
@@ -0,0 +1,9897 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_11_head_peeler_3_handle_h0_98_hnd1_06.obj b/assets/peeler_combined/mesh/peeler_11_head_peeler_3_handle_h0_98_hnd1_06.obj
new file mode 100644
index 0000000000000000000000000000000000000000..813d8cf5ecd51ef209bc586fed3bedc77740620a
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_peeler_3_handle_h0_98_hnd1_06.obj
@@ -0,0 +1,9945 @@
+# https://github.com/mikedh/trimesh
+v -0.02155037 -0.00043391 0.00108162
+v 0.02141459 -0.00049320 0.00061988
+v 0.00098826 -0.00133421 0.00028345
+v -0.00750762 -0.00075520 0.00003807
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_peeler_4_handle_h1_01_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_11_head_peeler_4_handle_h1_01_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e33ec709594dfdc796d0d409ef0ce6f6ddbc782b
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_peeler_4_handle_h1_01_hnd0_96.obj
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_peeler_6_handle_h1_19_hnd0_95.obj b/assets/peeler_combined/mesh/peeler_11_head_peeler_6_handle_h1_19_hnd0_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07885b4976af4704004759047c72df0b09e104cc
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_peeler_6_handle_h1_19_hnd0_95.obj
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_peeler_9_handle_h0_95_hnd0_94.obj b/assets/peeler_combined/mesh/peeler_11_head_peeler_9_handle_h0_95_hnd0_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1036fbbdc8aba16d8fa5f813cd567bba8ab5848b
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_peeler_9_handle_h0_95_hnd0_94.obj
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_rectangular_handle_h0_99_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_11_head_rectangular_handle_h0_99_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c14f8d0a32ad110203163fd002fb2cffe4c1662b
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_rectangular_handle_h0_99_hnd1_05.obj
@@ -0,0 +1,9949 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.obj b/assets/peeler_combined/mesh/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.obj
new file mode 100644
index 0000000000000000000000000000000000000000..126d4eb297bd55f676972e3b4d6a04f55682cc73
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_tool_cylinder_6_h1_06_hnd1_04.obj
@@ -0,0 +1,9877 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.obj b/assets/peeler_combined/mesh/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89d16221dc5e3bbeba4ffce8d5aa2e3d1076ef6a
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_tool_hex_prism_12_h0_90_hnd1_02.obj
@@ -0,0 +1,9927 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7f00d79ba506a0b84f882a521429720088da490
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_11_head_tool_rectangle_28_h1_10_hnd1_01.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d68836f57f2943121d2ed3afde1aaa9f3c4a9ed
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_peeler_1_handle_h1_09_hnd1_05.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.obj b/assets/peeler_combined/mesh/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e93562b60b2229e2cafc0f488b6e9bd4f3be8062
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_peeler_6_handle_h0_89_hnd0_91.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_rectangular_handle_h0_96_hnd0_99.obj b/assets/peeler_combined/mesh/peeler_1_head_rectangular_handle_h0_96_hnd0_99.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e56294c01fb16e221f30e9ba03899a440cdd4c04
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_rectangular_handle_h0_96_hnd0_99.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.obj b/assets/peeler_combined/mesh/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d427a4d1ea4038db044ada222c394668f0f1579
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_tool_hex_prism_12_h1_01_hnd0_92.obj
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diff --git a/assets/peeler_combined/mesh/peeler_1_head_tool_rectangle_28_h1_05_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_1_head_tool_rectangle_28_h1_05_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f50ce79f0b5f997a7283bb19e268c53fb351f837
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_1_head_tool_rectangle_28_h1_05_hnd0_96.obj
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_peeler_6_handle_h0_83_hnd0_98.obj b/assets/peeler_combined/mesh/peeler_3_head_peeler_6_handle_h0_83_hnd0_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79fbf60e3aedef0d3f60edb9894975f6766a7596
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_peeler_6_handle_h0_83_hnd0_98.obj
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_rectangular_handle_h1_06_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_3_head_rectangular_handle_h1_06_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5b34283bb47d8fc2f4d6e645cdaa7a0e685fc570
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_rectangular_handle_h1_06_hnd1_01.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.obj b/assets/peeler_combined/mesh/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af22cc0b4bc0a03cfdd3cbe57681e16cad8b4023
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_tool_cylinder_6_h1_01_hnd0_93.obj
@@ -0,0 +1,9953 @@
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diff --git a/assets/peeler_combined/mesh/peeler_3_head_tool_rectangle_28_h1_03_hnd0_86.obj b/assets/peeler_combined/mesh/peeler_3_head_tool_rectangle_28_h1_03_hnd0_86.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c790a080c25d836e6e2b52384f2b6e666ef573fa
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_3_head_tool_rectangle_28_h1_03_hnd0_86.obj
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.obj b/assets/peeler_combined/mesh/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e22d43f9f9dfeb70e15713bd9f22373a7182b6
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_peeler_1_handle_h0_89_hnd1_00.obj
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diff --git a/assets/peeler_combined/mesh/peeler_4_head_peeler_3_handle_h1_03_hnd1_01.obj b/assets/peeler_combined/mesh/peeler_4_head_peeler_3_handle_h1_03_hnd1_01.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0e1345aff0ad1da88117a5b56555e4dd828499b4
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_peeler_3_handle_h1_03_hnd1_01.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_4_head_peeler_4_handle_h1_05_hnd0_94.obj b/assets/peeler_combined/mesh/peeler_4_head_peeler_4_handle_h1_05_hnd0_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3f5528116587f7453316254a1746479fac94fb1
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_peeler_4_handle_h1_05_hnd0_94.obj
@@ -0,0 +1,9913 @@
+# https://github.com/mikedh/trimesh
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.obj b/assets/peeler_combined/mesh/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e261cf0e7af7ef571518a971661b89b6dc1b583
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_4_head_peeler_9_handle_h0_86_hnd1_00.obj
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..72a1474741613cf1d05bd715957d660e9508472d
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_peeler_4_handle_h0_96_hnd0_97.obj
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_peeler_6_handle_h0_93_hnd1_13.obj b/assets/peeler_combined/mesh/peeler_5_head_peeler_6_handle_h0_93_hnd1_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8c5249f4d1aa08de52782ae60b3dfa7e1af5e9fc
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_peeler_6_handle_h0_93_hnd1_13.obj
@@ -0,0 +1,10009 @@
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_peeler_9_handle_h1_04_hnd0_98.obj b/assets/peeler_combined/mesh/peeler_5_head_peeler_9_handle_h1_04_hnd0_98.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a33fc459852697a7dda96fd635f6a432fb02c871
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_peeler_9_handle_h1_04_hnd0_98.obj
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_rectangular_handle_h0_88_hnd1_07.obj b/assets/peeler_combined/mesh/peeler_5_head_rectangular_handle_h0_88_hnd1_07.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba849d6b81429c4b8735e579842868588d558f2f
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_rectangular_handle_h0_88_hnd1_07.obj
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40213de8ea1cbd59526f29b6cbc1282eaacf4e13
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_tool_cylinder_6_h1_02_hnd0_96.obj
@@ -0,0 +1,10005 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.obj b/assets/peeler_combined/mesh/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1ac2497af83acb4689b17eb5e2cf9c94568722e7
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_tool_hex_prism_12_h0_90_hnd1_07.obj
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diff --git a/assets/peeler_combined/mesh/peeler_5_head_tool_rectangle_28_h1_04_hnd0_91.obj b/assets/peeler_combined/mesh/peeler_5_head_tool_rectangle_28_h1_04_hnd0_91.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25d544b49b829fad8e5336f16b9cae792a545b6a
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_5_head_tool_rectangle_28_h1_04_hnd0_91.obj
@@ -0,0 +1,10011 @@
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_peeler_3_handle_h0_91_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_6_head_peeler_3_handle_h0_91_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6374b6d9278b2d0976a4631e0f440498c0ebca71
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_peeler_3_handle_h0_91_hnd0_96.obj
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.obj b/assets/peeler_combined/mesh/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a969811b6bf344efaa6b51b924af997a5579514
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_peeler_6_handle_h1_03_hnd0_89.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fbb283b809e3fa0f8127e0fe9f77c7c96924257
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_tool_cylinder_6_h0_90_hnd1_03.obj
@@ -0,0 +1,9999 @@
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.obj b/assets/peeler_combined/mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e5a0c6e838ea7f8e20a0e0e8033618ac05eb2cd
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_tool_hex_prism_12_h0_95_hnd0_90.obj
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diff --git a/assets/peeler_combined/mesh/peeler_6_head_tool_rectangle_28_h1_01_hnd0_97.obj b/assets/peeler_combined/mesh/peeler_6_head_tool_rectangle_28_h1_01_hnd0_97.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7eac6fc03ade58b3be3d4226b0e25d55cd566891
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_6_head_tool_rectangle_28_h1_01_hnd0_97.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_7_head_peeler_6_handle_h0_99_hnd1_09.obj b/assets/peeler_combined/mesh/peeler_7_head_peeler_6_handle_h0_99_hnd1_09.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af5c901a141f3587980b52c3fa8a5516c78a8430
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_peeler_6_handle_h0_99_hnd1_09.obj
@@ -0,0 +1,9989 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_7_head_peeler_9_handle_h0_91_hnd0_94.obj b/assets/peeler_combined/mesh/peeler_7_head_peeler_9_handle_h0_91_hnd0_94.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b665f8d7147e9b8a662e195f34f452937dc703cd
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_peeler_9_handle_h0_91_hnd0_94.obj
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diff --git a/assets/peeler_combined/mesh/peeler_7_head_rectangular_handle_h0_90_hnd0_87.obj b/assets/peeler_combined/mesh/peeler_7_head_rectangular_handle_h0_90_hnd0_87.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47885ce1d3141a018e151b00cc148453a1db975e
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_rectangular_handle_h0_90_hnd0_87.obj
@@ -0,0 +1,9981 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_7_head_tool_cylinder_6_h1_04_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_7_head_tool_cylinder_6_h1_04_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..543fe107a0d0deabf66002ee5fd6774692d0475c
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_tool_cylinder_6_h1_04_hnd1_05.obj
@@ -0,0 +1,10031 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_7_head_tool_hex_prism_12_h1_03_hnd1_14.obj b/assets/peeler_combined/mesh/peeler_7_head_tool_hex_prism_12_h1_03_hnd1_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f3861fbad90045ed46e3af2d792ff0a0b2bc974
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_tool_hex_prism_12_h1_03_hnd1_14.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_7_head_tool_rectangle_28_h1_02_hnd1_04.obj b/assets/peeler_combined/mesh/peeler_7_head_tool_rectangle_28_h1_02_hnd1_04.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cfcdfae5853965eeff5da6c1de7594d7d9002414
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_7_head_tool_rectangle_28_h1_02_hnd1_04.obj
@@ -0,0 +1,9993 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.obj b/assets/peeler_combined/mesh/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33924f8459f26c94bb027a578dd7066950a05464
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_peeler_1_handle_h0_96_hnd0_92.obj
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_peeler_3_handle_h0_99_hnd1_06.obj b/assets/peeler_combined/mesh/peeler_8_head_peeler_3_handle_h0_99_hnd1_06.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6eda950ebd717c36f3eab58b89143c3228a7d3be
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_peeler_3_handle_h0_99_hnd1_06.obj
@@ -0,0 +1,9929 @@
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diff --git a/assets/peeler_combined/mesh/peeler_8_head_peeler_9_handle_h1_05_hnd1_00.obj b/assets/peeler_combined/mesh/peeler_8_head_peeler_9_handle_h1_05_hnd1_00.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03a3c486e9ae3310a023445a6c0a279405e2d10e
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_peeler_9_handle_h1_05_hnd1_00.obj
@@ -0,0 +1,9971 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_8_head_rectangular_handle_h1_06_hnd1_08.obj b/assets/peeler_combined/mesh/peeler_8_head_rectangular_handle_h1_06_hnd1_08.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed86258dba92dbe26d193f967bf63985f9c7e074
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_8_head_rectangular_handle_h1_06_hnd1_08.obj
@@ -0,0 +1,9955 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b29807f7b25c060f8474a1cae1e0213eb67946ce
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_peeler_1_handle_h1_05_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_peeler_3_handle_h1_01_hnd1_05.obj b/assets/peeler_combined/mesh/peeler_9_head_peeler_3_handle_h1_01_hnd1_05.obj
new file mode 100644
index 0000000000000000000000000000000000000000..803a25ec6f0069691edc368e87071a8b92d9c888
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_peeler_3_handle_h1_01_hnd1_05.obj
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.obj b/assets/peeler_combined/mesh/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f3efc17e8d2dd807a50cc79770a90a2e477c1b28
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_peeler_4_handle_h0_96_hnd0_95.obj
@@ -0,0 +1,9955 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_9_head_peeler_6_handle_h0_93_hnd0_96.obj b/assets/peeler_combined/mesh/peeler_9_head_peeler_6_handle_h0_93_hnd0_96.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10923ff09d22aaed0b70dabaa2be0f80b7524288
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_peeler_6_handle_h0_93_hnd0_96.obj
@@ -0,0 +1,9971 @@
+# https://github.com/mikedh/trimesh
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.obj b/assets/peeler_combined/mesh/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.obj
new file mode 100644
index 0000000000000000000000000000000000000000..80c1a2d18a8a2b9b79e6f7ba654ba9cfe7be3326
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_peeler_9_handle_h1_07_hnd0_93.obj
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_rectangular_handle_h0_99_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_9_head_rectangular_handle_h0_99_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46d86a654d697782720fd095349f33e41f1d5c56
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_rectangular_handle_h0_99_hnd1_03.obj
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diff --git a/assets/peeler_combined/mesh/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.obj b/assets/peeler_combined/mesh/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b972c5bc68cc11940cef1e8004df3e63afbfb2a9
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_tool_cylinder_6_h0_90_hnd1_03.obj
@@ -0,0 +1,9961 @@
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\ No newline at end of file
diff --git a/assets/peeler_combined/mesh/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.obj b/assets/peeler_combined/mesh/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aba46eda217c638733e2684df947aa696d714dd8
--- /dev/null
+++ b/assets/peeler_combined/mesh/peeler_9_head_tool_hex_prism_12_h0_98_hnd1_09.obj
@@ -0,0 +1,9977 @@
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diff --git a/assets/tools/urdf/tool_cylinder_10.urdf b/assets/tools/urdf/tool_cylinder_10.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4baf323811c4af3dba63f6fd48539ad1502a1c5a
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_10.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_10">
+    <link name="tool_cylinder_10">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_10.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_10.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_14.urdf b/assets/tools/urdf/tool_cylinder_14.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d9af8c42048e4f368de59f3955712c452f47a762
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_14.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_14">
+    <link name="tool_cylinder_14">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_14.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_14.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_15.urdf b/assets/tools/urdf/tool_cylinder_15.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7e56b09cd8cfce696ca69a9707f8a4a96858c8e
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_15.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_15">
+    <link name="tool_cylinder_15">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_15.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_15.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_16.urdf b/assets/tools/urdf/tool_cylinder_16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8b95413d9383883793ff6d1164bf621856ff3edf
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_16.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_16">
+    <link name="tool_cylinder_16">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_16.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_16.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_21.urdf b/assets/tools/urdf/tool_cylinder_21.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c64c9095f350f721153a108f9502592d9c4e381
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_21.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_21">
+    <link name="tool_cylinder_21">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_21.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_21.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_22.urdf b/assets/tools/urdf/tool_cylinder_22.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5094bef3b3ec4e79e300fc9ffd96173fdb091caa
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_22.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_22">
+    <link name="tool_cylinder_22">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_22.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_22.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_29.urdf b/assets/tools/urdf/tool_cylinder_29.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d872b01ea5edff3a9f481abc01aa3eae407f450
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_29.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_29">
+    <link name="tool_cylinder_29">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_29.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_29.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_30.urdf b/assets/tools/urdf/tool_cylinder_30.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a8dfc9bdd7f3a4c2e2ff7b96c1d6299940b7cb21
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_30.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_30">
+    <link name="tool_cylinder_30">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_30.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_30.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_33.urdf b/assets/tools/urdf/tool_cylinder_33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48c67fc426751cf4e9a1a25948620aab7139fe09
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_33.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_33">
+    <link name="tool_cylinder_33">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_33.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_33.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_36.urdf b/assets/tools/urdf/tool_cylinder_36.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..841659fc84cfa5fc57df52a3d5c5042e239b0832
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_36.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_36">
+    <link name="tool_cylinder_36">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_36.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_36.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_41.urdf b/assets/tools/urdf/tool_cylinder_41.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7975c0e0ec77e643ae8fe39b9fd53be17a8f78df
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_41.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_41">
+    <link name="tool_cylinder_41">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_41.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_41.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_45.urdf b/assets/tools/urdf/tool_cylinder_45.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f79a85d85af8bba93ac724cc0b6c9867c69ce703
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_45.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_45">
+    <link name="tool_cylinder_45">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_45.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_45.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_5.urdf b/assets/tools/urdf/tool_cylinder_5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f202ee8fc6923cbf3836c3199b344cbd97eac47e
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_5.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_5">
+    <link name="tool_cylinder_5">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_5.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_5.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_50.urdf b/assets/tools/urdf/tool_cylinder_50.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..26d70507231c2f59abbf6e9fea7dedeb57e996ca
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_50.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_50">
+    <link name="tool_cylinder_50">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_50.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_50.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_6.urdf b/assets/tools/urdf/tool_cylinder_6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8a8d87962a0f8895286f514c01b9f142a6aed95e
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_6.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_6">
+    <link name="tool_cylinder_6">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_6.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder/tool_cylinder_6.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_10.urdf b/assets/tools/urdf/tool_cylinder_pen_10.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a63be8f2ef8102f6cde636341bb8dc4d3edffe33
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_10.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_10">
+    <link name="tool_cylinder_pen_10">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_10.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_10.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_11.urdf b/assets/tools/urdf/tool_cylinder_pen_11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..21bdd712cdc1974452b1fc66f4ec7ce85b53e7b0
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_11.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_11">
+    <link name="tool_cylinder_pen_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_2.urdf b/assets/tools/urdf/tool_cylinder_pen_2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3720b5e447a549e6f1448f768edc991f5f360931
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_2.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_2">
+    <link name="tool_cylinder_pen_2">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_2.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_2.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_28.urdf b/assets/tools/urdf/tool_cylinder_pen_28.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..44046658a4d212bfdb65940a26f523dda2a12d2a
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_28.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_28">
+    <link name="tool_cylinder_pen_28">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_28.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_28.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_3.urdf b/assets/tools/urdf/tool_cylinder_pen_3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a402f897b0db0edb10011ccf2eab637a8e7e96da
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_3.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_3">
+    <link name="tool_cylinder_pen_3">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_3.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_3.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_30.urdf b/assets/tools/urdf/tool_cylinder_pen_30.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..10e115d8f4bdfa48cbbb1679dc1e15b3443d4176
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_30.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_30">
+    <link name="tool_cylinder_pen_30">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_30.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_30.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_31.urdf b/assets/tools/urdf/tool_cylinder_pen_31.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b823cd1093a1b877ad1c043cb6b0f3e425f8e9b
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_31.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_31">
+    <link name="tool_cylinder_pen_31">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_31.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_31.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_32.urdf b/assets/tools/urdf/tool_cylinder_pen_32.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bfe6f6b44f645d232cec25f0cde61086ba073af
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_32.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_32">
+    <link name="tool_cylinder_pen_32">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_32.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_32.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_34.urdf b/assets/tools/urdf/tool_cylinder_pen_34.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89a0b993eddde63c37d90215713f829a9f983dc9
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_34.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_34">
+    <link name="tool_cylinder_pen_34">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_34.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_34.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_35.urdf b/assets/tools/urdf/tool_cylinder_pen_35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31d2832cc60724d1d4080ddc58897d5bad7a6ec6
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_35.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_35">
+    <link name="tool_cylinder_pen_35">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_35.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_35.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_4.urdf b/assets/tools/urdf/tool_cylinder_pen_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d4bdd48c42cb11f4974c13c28e83346da15ede1
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_4">
+    <link name="tool_cylinder_pen_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_4.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_43.urdf b/assets/tools/urdf/tool_cylinder_pen_43.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7514c5d879b2797ec1df99f7c7168cae12fb1f7e
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_43.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_43">
+    <link name="tool_cylinder_pen_43">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_43.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_43.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_45.urdf b/assets/tools/urdf/tool_cylinder_pen_45.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..287600f4e4317607bf1f2923fe03a01375d55be5
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_45.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_45">
+    <link name="tool_cylinder_pen_45">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_45.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_45.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_47.urdf b/assets/tools/urdf/tool_cylinder_pen_47.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f8610c18a6275651cd47114abfda8c9d369225d
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_47.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_47">
+    <link name="tool_cylinder_pen_47">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_47.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_47.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_48.urdf b/assets/tools/urdf/tool_cylinder_pen_48.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..951d0897bbf7e1828dcdf2e66cc7dd2503fa4edc
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_48.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_48">
+    <link name="tool_cylinder_pen_48">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_48.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_48.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_49.urdf b/assets/tools/urdf/tool_cylinder_pen_49.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e3c078b987f8d6e0acdf9a9d390080fad6aedf1
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_49.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_49">
+    <link name="tool_cylinder_pen_49">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_49.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_49.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_50.urdf b/assets/tools/urdf/tool_cylinder_pen_50.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c051b5eb70f74ff4d8a0bba4220582d3dc51853f
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_50.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_50">
+    <link name="tool_cylinder_pen_50">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_50.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_50.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_7.urdf b/assets/tools/urdf/tool_cylinder_pen_7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3ca984e9f9c259a38e4c170232d3fc4344a48e7
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_7.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_7">
+    <link name="tool_cylinder_pen_7">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_7.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_7.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_cylinder_pen_9.urdf b/assets/tools/urdf/tool_cylinder_pen_9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9eee87bc65af26b28349f5c009a88551a7e183b1
--- /dev/null
+++ b/assets/tools/urdf/tool_cylinder_pen_9.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_cylinder_pen_9">
+    <link name="tool_cylinder_pen_9">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_9.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/cylinder_pen/tool_cylinder_pen_9.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_10.urdf b/assets/tools/urdf/tool_hex_pen_10.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1729214a36151b0888b516e5f80a49b04aa8ef7e
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_10.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_10">
+    <link name="tool_hex_pen_10">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_10.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_10.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_11.urdf b/assets/tools/urdf/tool_hex_pen_11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6ea9d64f9f05f940eeaf77bd9bd6156fdb3b2c0
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_11.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_11">
+    <link name="tool_hex_pen_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_12.urdf b/assets/tools/urdf/tool_hex_pen_12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c6bb630bf7a46751bf222582fb629ba1a027a0f
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_12.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_12">
+    <link name="tool_hex_pen_12">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_12.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_12.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_16.urdf b/assets/tools/urdf/tool_hex_pen_16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2929a4d9c287320d8539e334db58e84abd57319
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_16.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_16">
+    <link name="tool_hex_pen_16">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_16.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_16.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_2.urdf b/assets/tools/urdf/tool_hex_pen_2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6564d426f07c52395f937cb822da6ccc74a17f53
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_2.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_2">
+    <link name="tool_hex_pen_2">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_2.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_2.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_22.urdf b/assets/tools/urdf/tool_hex_pen_22.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1b8eb92db842ca1a026817f2910274f37da09264
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_22.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_22">
+    <link name="tool_hex_pen_22">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_22.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_22.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_24.urdf b/assets/tools/urdf/tool_hex_pen_24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..454deda340678754953dd409a685e1afc75098ca
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_24.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_24">
+    <link name="tool_hex_pen_24">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_24.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_24.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_28.urdf b/assets/tools/urdf/tool_hex_pen_28.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c09e09a808ae6c8edd1320fb897221480682104
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_28.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_28">
+    <link name="tool_hex_pen_28">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_28.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_28.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_29.urdf b/assets/tools/urdf/tool_hex_pen_29.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..753b06429a7be3d98b44ae06bca6b564c9a02782
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_29.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_29">
+    <link name="tool_hex_pen_29">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_29.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_29.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_31.urdf b/assets/tools/urdf/tool_hex_pen_31.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a19117f691bab1b62f858a1ac807df46715a4292
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_31.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_31">
+    <link name="tool_hex_pen_31">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_31.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_31.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_32.urdf b/assets/tools/urdf/tool_hex_pen_32.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1900939e566b31af88a6145ed4bf60f2e5a77adb
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_32.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_32">
+    <link name="tool_hex_pen_32">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_32.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_32.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_33.urdf b/assets/tools/urdf/tool_hex_pen_33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c2f99cfd7995d300173e2f4af65628011396f814
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_33.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_33">
+    <link name="tool_hex_pen_33">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_33.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_33.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_36.urdf b/assets/tools/urdf/tool_hex_pen_36.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93aee2444fb77dac16f337daddb6ec5240bd13b5
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_36.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_36">
+    <link name="tool_hex_pen_36">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_36.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_36.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_37.urdf b/assets/tools/urdf/tool_hex_pen_37.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d73f9e9ea63aa63a20db91c9192b612a0fcc43d
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_37.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_37">
+    <link name="tool_hex_pen_37">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_37.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_37.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_39.urdf b/assets/tools/urdf/tool_hex_pen_39.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fea25d8534cbf913a2e4eac50a845e18abb33d38
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_39.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_39">
+    <link name="tool_hex_pen_39">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_39.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_39.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_4.urdf b/assets/tools/urdf/tool_hex_pen_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d5aaeaea9d8f415a3735b52e0d321e75062a9fb4
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_4">
+    <link name="tool_hex_pen_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_4.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_48.urdf b/assets/tools/urdf/tool_hex_pen_48.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f701d2cee9d6a5355d7ea7c641c6bab44fffebf
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_48.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_48">
+    <link name="tool_hex_pen_48">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_48.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_48.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_49.urdf b/assets/tools/urdf/tool_hex_pen_49.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e362e38dafb452f9b50dea93789eadac1b4a9fa
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_49.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_49">
+    <link name="tool_hex_pen_49">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_49.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_49.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_50.urdf b/assets/tools/urdf/tool_hex_pen_50.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6f721c942ba77bc80ed9eb117cbed3f67412eeeb
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_50.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_50">
+    <link name="tool_hex_pen_50">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_50.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_50.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_8.urdf b/assets/tools/urdf/tool_hex_pen_8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9792f6cb39c8990c0bbd5592892b6255222e8ade
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_8.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_8">
+    <link name="tool_hex_pen_8">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_8.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_8.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_pen_9.urdf b/assets/tools/urdf/tool_hex_pen_9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8c752ba80933eb90e8fda77f2f326c00fc296
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_pen_9.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_pen_9">
+    <link name="tool_hex_pen_9">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_9.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_pen/tool_hex_pen_9.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_11.urdf b/assets/tools/urdf/tool_hex_prism_11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2489b12480655c226565a3ea5c65d9f2f07d017a
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_11.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_11">
+    <link name="tool_hex_prism_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_16.urdf b/assets/tools/urdf/tool_hex_prism_16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e072b84f9084afd19b6f961e4c1553b79ccd77b
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_16.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_16">
+    <link name="tool_hex_prism_16">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_16.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_16.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_17.urdf b/assets/tools/urdf/tool_hex_prism_17.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ad3c6db974a68863f681b768315937e8cd555399
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_17.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_17">
+    <link name="tool_hex_prism_17">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_17.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_17.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_20.urdf b/assets/tools/urdf/tool_hex_prism_20.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..88db1759de39c2ebcb4019d306a4c21f060375be
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_20.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_20">
+    <link name="tool_hex_prism_20">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_20.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_20.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_22.urdf b/assets/tools/urdf/tool_hex_prism_22.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..01638439bc672a8cdb80cca5ddcc67a372175ac8
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_22.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_22">
+    <link name="tool_hex_prism_22">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_22.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_22.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_24.urdf b/assets/tools/urdf/tool_hex_prism_24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a49a8bf803fcdefd6f77fc83528504fd499286a9
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_24.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_24">
+    <link name="tool_hex_prism_24">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_24.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_24.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_25.urdf b/assets/tools/urdf/tool_hex_prism_25.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e10c64f674f608d0f2f29886cad17c11139dad1
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_25.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_25">
+    <link name="tool_hex_prism_25">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_25.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_25.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_27.urdf b/assets/tools/urdf/tool_hex_prism_27.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ce25590e64fac74a1014b51cafaacefd8e9755b
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_27.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_27">
+    <link name="tool_hex_prism_27">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_27.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_27.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_29.urdf b/assets/tools/urdf/tool_hex_prism_29.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3b89ff22553abf00cadc2d22d0dd4a098c7f3234
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_29.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_29">
+    <link name="tool_hex_prism_29">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_29.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_29.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_3.urdf b/assets/tools/urdf/tool_hex_prism_3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4d2e788af34a460c2b115bee01fe59041bedf4a1
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_3.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_3">
+    <link name="tool_hex_prism_3">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_3.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_3.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_30.urdf b/assets/tools/urdf/tool_hex_prism_30.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..393af1307ef0003529c2bcbd0d3c05af8999a10e
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_30.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_30">
+    <link name="tool_hex_prism_30">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_30.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_30.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
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+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_32.urdf b/assets/tools/urdf/tool_hex_prism_32.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..265db10ed027006336b15a0f7675e1332eb9aeca
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_32.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_32">
+    <link name="tool_hex_prism_32">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_32.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_32.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
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diff --git a/assets/tools/urdf/tool_hex_prism_33.urdf b/assets/tools/urdf/tool_hex_prism_33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fd6c0f1188b06018da6f356c35a8180809397d3
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_33.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_33">
+    <link name="tool_hex_prism_33">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_33.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_33.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_34.urdf b/assets/tools/urdf/tool_hex_prism_34.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c74adca53f261e31a218e3560d7842f800d5a30d
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_34.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_34">
+    <link name="tool_hex_prism_34">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_34.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_34.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_35.urdf b/assets/tools/urdf/tool_hex_prism_35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d64d0757e0053ce9b4edef01f66ade0cea26196f
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_35.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_35">
+    <link name="tool_hex_prism_35">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_35.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_35.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_36.urdf b/assets/tools/urdf/tool_hex_prism_36.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..817888e66c5aae174c8500bbb021888624fea648
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_36.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_36">
+    <link name="tool_hex_prism_36">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_36.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_36.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_hex_prism_37.urdf b/assets/tools/urdf/tool_hex_prism_37.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..772e42c31c6733a6791f1d869b387ffc4345e101
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_37.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_37">
+    <link name="tool_hex_prism_37">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_37.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_37.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
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+    </link>
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diff --git a/assets/tools/urdf/tool_hex_prism_38.urdf b/assets/tools/urdf/tool_hex_prism_38.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8cd1269d7f28d578c4ff22e40d187fde5d0620c4
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_38.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_38">
+    <link name="tool_hex_prism_38">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_38.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_38.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
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+    </link>
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diff --git a/assets/tools/urdf/tool_hex_prism_4.urdf b/assets/tools/urdf/tool_hex_prism_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..fd81bef9445c82c6e380bfe9697298f8a56a5ab3
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_4">
+    <link name="tool_hex_prism_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_4.obj"/>
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+            <sdf resolution="256"/>
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diff --git a/assets/tools/urdf/tool_hex_prism_41.urdf b/assets/tools/urdf/tool_hex_prism_41.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f7705dee8d21878c4a5914bb9c7213c4f244a
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_41.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_41">
+    <link name="tool_hex_prism_41">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_41.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_41.obj"/>
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+            <sdf resolution="256"/>
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diff --git a/assets/tools/urdf/tool_hex_prism_42.urdf b/assets/tools/urdf/tool_hex_prism_42.urdf
new file mode 100644
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--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_42.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_42">
+    <link name="tool_hex_prism_42">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_42.obj"/>
+            </geometry>
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+        <collision>
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+            <sdf resolution="256"/>
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+    </link>
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diff --git a/assets/tools/urdf/tool_hex_prism_44.urdf b/assets/tools/urdf/tool_hex_prism_44.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0fb5562ca716b876325de868275be61ccc1b16ce
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_44.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_44">
+    <link name="tool_hex_prism_44">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_44.obj"/>
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+        <collision>
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+                <mesh filename="../mesh/hex_prism/tool_hex_prism_44.obj"/>
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+            <sdf resolution="256"/>
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diff --git a/assets/tools/urdf/tool_hex_prism_5.urdf b/assets/tools/urdf/tool_hex_prism_5.urdf
new file mode 100644
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--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_5.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_5">
+    <link name="tool_hex_prism_5">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_5.obj"/>
+            </geometry>
+        </visual>
+        <collision>
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+                <mesh filename="../mesh/hex_prism/tool_hex_prism_5.obj"/>
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+            <sdf resolution="256"/>
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diff --git a/assets/tools/urdf/tool_hex_prism_9.urdf b/assets/tools/urdf/tool_hex_prism_9.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c7ec86f0ddfa44909fa28ff6232edc8fe7afcef2
--- /dev/null
+++ b/assets/tools/urdf/tool_hex_prism_9.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_hex_prism_9">
+    <link name="tool_hex_prism_9">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/hex_prism/tool_hex_prism_9.obj"/>
+            </geometry>
+        </visual>
+        <collision>
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+                <mesh filename="../mesh/hex_prism/tool_hex_prism_9.obj"/>
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+            <sdf resolution="256"/>
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diff --git a/assets/tools/urdf/tool_rectangle_1.urdf b/assets/tools/urdf/tool_rectangle_1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77d4f0b6fb2659ee3b5b55730265df365004838c
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_1.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_1">
+    <link name="tool_rectangle_1">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_1.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_1.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_11.urdf b/assets/tools/urdf/tool_rectangle_11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58f91d224443bc0005ed708f43d13f3aef21e44f
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_11.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_11">
+    <link name="tool_rectangle_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_12.urdf b/assets/tools/urdf/tool_rectangle_12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5417509b393cd373fba970f7eb89dc51fa2884ca
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_12.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_12">
+    <link name="tool_rectangle_12">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_12.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_12.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_16.urdf b/assets/tools/urdf/tool_rectangle_16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..895fe8be644f3c970e90cfdddcf8430be670913e
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_16.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_16">
+    <link name="tool_rectangle_16">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_16.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_16.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_17.urdf b/assets/tools/urdf/tool_rectangle_17.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6207e8d114208d2de33f6807ef51b2e29a398dde
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_17.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_17">
+    <link name="tool_rectangle_17">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_17.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_17.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_18.urdf b/assets/tools/urdf/tool_rectangle_18.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6deb7101a73e748ca8be4471a06154f8d6be58ca
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_18.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_18">
+    <link name="tool_rectangle_18">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_18.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_18.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_2.urdf b/assets/tools/urdf/tool_rectangle_2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7763ef6d59639b2bbcd8831dd90c0c4d00dfc64f
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_2.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_2">
+    <link name="tool_rectangle_2">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_2.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_2.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_21.urdf b/assets/tools/urdf/tool_rectangle_21.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9ca0f8ba36086eaaf90f43353f66fd3dce3a9cfb
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_21.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_21">
+    <link name="tool_rectangle_21">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_21.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_21.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_24.urdf b/assets/tools/urdf/tool_rectangle_24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a46c4739360e736dcb52d71d4fa6442866db3e2
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_24.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_24">
+    <link name="tool_rectangle_24">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_24.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_24.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_28.urdf b/assets/tools/urdf/tool_rectangle_28.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd9db55efccb7d6c4bd4e0968a75f778ad3cd37e
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_28.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_28">
+    <link name="tool_rectangle_28">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_28.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_28.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_29.urdf b/assets/tools/urdf/tool_rectangle_29.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c23f5c74404e711fb98c399fc92cf195a31379aa
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_29.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_29">
+    <link name="tool_rectangle_29">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_29.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_29.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_33.urdf b/assets/tools/urdf/tool_rectangle_33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..31a5e30f2dbfca3343d877c3069c01604e046a1c
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_33.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_33">
+    <link name="tool_rectangle_33">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_33.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_33.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_35.urdf b/assets/tools/urdf/tool_rectangle_35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f420e9682635bf4e7f024ced7797ac28fe4a6be0
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_35.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_35">
+    <link name="tool_rectangle_35">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_35.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_35.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_36.urdf b/assets/tools/urdf/tool_rectangle_36.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..410fc42901e8a32fd15a36a8124e392e3e8370af
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_36.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_36">
+    <link name="tool_rectangle_36">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_36.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_36.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_37.urdf b/assets/tools/urdf/tool_rectangle_37.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d512e51064b84567654fe7e9013f422ad3f7478
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_37.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_37">
+    <link name="tool_rectangle_37">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_37.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_37.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_38.urdf b/assets/tools/urdf/tool_rectangle_38.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b4319ee9a90ecb6a11df11d56dd17fd14c5a686
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_38.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_38">
+    <link name="tool_rectangle_38">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_38.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_38.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_39.urdf b/assets/tools/urdf/tool_rectangle_39.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f09c5c6933d927cf415465b8ab24ffecd2c611eb
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_39.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_39">
+    <link name="tool_rectangle_39">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_39.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_39.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_4.urdf b/assets/tools/urdf/tool_rectangle_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02c79f65a4b1e0758d55df7ffdf8f13c193aecca
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_4">
+    <link name="tool_rectangle_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_4.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_41.urdf b/assets/tools/urdf/tool_rectangle_41.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f190a89c8bb883852847c146c13caecd0de3eaa5
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_41.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_41">
+    <link name="tool_rectangle_41">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_41.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_41.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_48.urdf b/assets/tools/urdf/tool_rectangle_48.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..30ddf91777446993151d5d1d17ca3959789e4add
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_48.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_48">
+    <link name="tool_rectangle_48">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_48.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_48.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_49.urdf b/assets/tools/urdf/tool_rectangle_49.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..19702eb5c28adcc2b2df8ff479f12cd734da0d31
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_49.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_49">
+    <link name="tool_rectangle_49">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_49.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_49.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_rectangle_50.urdf b/assets/tools/urdf/tool_rectangle_50.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e9d66689f53e67694be228500bffa03ea2c260a
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_50.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_50">
+    <link name="tool_rectangle_50">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_50.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_50.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
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new file mode 100644
index 0000000000000000000000000000000000000000..6023f3b6eb60e60f2320ea3eb91629329170da28
--- /dev/null
+++ b/assets/tools/urdf/tool_rectangle_6.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_rectangle_6">
+    <link name="tool_rectangle_6">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_6.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/rectangle/tool_rectangle_6.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_11.urdf b/assets/tools/urdf/tool_scraper_11.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c7f1ad217a3878af68d5f8e8b653d12ab45912f8
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_11.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_11">
+    <link name="tool_scraper_11">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_11.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_11.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_12.urdf b/assets/tools/urdf/tool_scraper_12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ba9ff7c5a824c497161ecdc2c6406a985c3bd6bc
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_12.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_12">
+    <link name="tool_scraper_12">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_12.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_12.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
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new file mode 100644
index 0000000000000000000000000000000000000000..950d7197e17c381a6e1c768f577d590feb986743
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_13.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_13">
+    <link name="tool_scraper_13">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_13.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_13.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_15.urdf b/assets/tools/urdf/tool_scraper_15.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d044e4db5569284688995555c3e7c42cf1cc0ae
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_15.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_15">
+    <link name="tool_scraper_15">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_15.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_15.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
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new file mode 100644
index 0000000000000000000000000000000000000000..d479cef43eb30fa97641bc69f7d8550243b80364
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_17.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_17">
+    <link name="tool_scraper_17">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_17.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_17.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
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+    </link>
+</robot>
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new file mode 100644
index 0000000000000000000000000000000000000000..bcc40d33cced4b9cf52a0ce46c10924939eb20e6
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_18.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_18">
+    <link name="tool_scraper_18">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_18.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_18.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
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+    </link>
+</robot>
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new file mode 100644
index 0000000000000000000000000000000000000000..add9027b7a5fd44bfb0718a1f8e97228d9ce742a
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_22.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_22">
+    <link name="tool_scraper_22">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_22.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_22.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_24.urdf b/assets/tools/urdf/tool_scraper_24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b60ff55d592055c80bd5fd2a9e6e6f37a24fc778
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_24.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_24">
+    <link name="tool_scraper_24">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_24.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_24.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_3.urdf b/assets/tools/urdf/tool_scraper_3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e9c34aacddf02d78de11c0c6cf1c11017a9f7b9d
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_3.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_3">
+    <link name="tool_scraper_3">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_3.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_3.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_30.urdf b/assets/tools/urdf/tool_scraper_30.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..302ab3f32e02396f668083fe9f7ba1fc2320fc5e
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_30.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_30">
+    <link name="tool_scraper_30">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_30.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_30.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_32.urdf b/assets/tools/urdf/tool_scraper_32.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0be15fae239745e81af5383fd47b26bf6d973fba
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_32.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_32">
+    <link name="tool_scraper_32">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_32.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_32.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_35.urdf b/assets/tools/urdf/tool_scraper_35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77fab1b85bf2aff2aa51008c71ef628bb4701808
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_35.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_35">
+    <link name="tool_scraper_35">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_35.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_35.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_38.urdf b/assets/tools/urdf/tool_scraper_38.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b85864bae58b5c628bc58667c52952cc47b4966
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_38.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_38">
+    <link name="tool_scraper_38">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_38.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_38.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_4.urdf b/assets/tools/urdf/tool_scraper_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e37826844f7456497b2c0d8c3cad8cdc7887b07b
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_4">
+    <link name="tool_scraper_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_4.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_40.urdf b/assets/tools/urdf/tool_scraper_40.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..979e321e1a3a3c86e17614e5bf7b36ed89cb4210
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_40.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_40">
+    <link name="tool_scraper_40">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_40.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_40.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_42.urdf b/assets/tools/urdf/tool_scraper_42.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..255484af34b349ad4d54724734e4e3ba204e74da
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_42.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_42">
+    <link name="tool_scraper_42">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_42.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_42.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_43.urdf b/assets/tools/urdf/tool_scraper_43.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c0e2f2c99a0a6068aafaf377379b785b769c4b3
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_43.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_43">
+    <link name="tool_scraper_43">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_43.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_43.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_48.urdf b/assets/tools/urdf/tool_scraper_48.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d077c3d3e9a98c504f4367d1e2f0b5aa32496bf
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_48.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_48">
+    <link name="tool_scraper_48">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_48.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_48.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_5.urdf b/assets/tools/urdf/tool_scraper_5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f7dc6a378cf6e05ad5c11153052a7d5c6cf2824
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_5.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_5">
+    <link name="tool_scraper_5">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_5.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_5.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_6.urdf b/assets/tools/urdf/tool_scraper_6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4db6dd6146ad77be8d4626c4c1275dbf1c21d799
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_6.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_6">
+    <link name="tool_scraper_6">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_6.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_6.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_7.urdf b/assets/tools/urdf/tool_scraper_7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..88f02b4dd084739e71cf1213333189f58224dbb2
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_7.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_7">
+    <link name="tool_scraper_7">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_7.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_7.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_scraper_8.urdf b/assets/tools/urdf/tool_scraper_8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5ff6ff00ecdc7e92ffd554d0bbcb8f3d33b7dc9e
--- /dev/null
+++ b/assets/tools/urdf/tool_scraper_8.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_scraper_8">
+    <link name="tool_scraper_8">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_8.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/scraper/tool_scraper_8.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_12.urdf b/assets/tools/urdf/tool_square_pen_12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4e01a391f9f29cc61399d890a8b3ab8c7bfab7ee
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_12.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_12">
+    <link name="tool_square_pen_12">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_12.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_12.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_16.urdf b/assets/tools/urdf/tool_square_pen_16.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c26e8730ae06e939d42ab6d56d4ecf4c18d38f24
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_16.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_16">
+    <link name="tool_square_pen_16">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_16.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_16.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_18.urdf b/assets/tools/urdf/tool_square_pen_18.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d0ddc542d7678dd3395bb2a1584d06881c27381
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_18.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_18">
+    <link name="tool_square_pen_18">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_18.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_18.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_19.urdf b/assets/tools/urdf/tool_square_pen_19.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ed6c25ccf913f79ad405448be2ec99b44056d55f
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_19.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_19">
+    <link name="tool_square_pen_19">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_19.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_19.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_24.urdf b/assets/tools/urdf/tool_square_pen_24.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b851bf19d47ffecd397b85e4e5e7c8586b2f1bf5
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_24.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_24">
+    <link name="tool_square_pen_24">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_24.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_24.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_25.urdf b/assets/tools/urdf/tool_square_pen_25.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..42ebfb6a909ee3c6e577743142ffca4a8e195b08
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_25.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_25">
+    <link name="tool_square_pen_25">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_25.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_25.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_3.urdf b/assets/tools/urdf/tool_square_pen_3.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83e52865a4cd1aecf8c57c4793f635ef8d152be3
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_3.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_3">
+    <link name="tool_square_pen_3">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_3.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_3.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_30.urdf b/assets/tools/urdf/tool_square_pen_30.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0be77bee95a45584db3e3e1de1ad7bf2f7d80ee4
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_30.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_30">
+    <link name="tool_square_pen_30">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_30.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_30.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_33.urdf b/assets/tools/urdf/tool_square_pen_33.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..de4b3e955b9070651e9d9eb5f40615c5ab5c127f
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_33.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_33">
+    <link name="tool_square_pen_33">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_33.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_33.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_35.urdf b/assets/tools/urdf/tool_square_pen_35.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..140ad8c4ac49d9ad1ceb1298bca70da0c682ef1d
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_35.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_35">
+    <link name="tool_square_pen_35">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_35.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_35.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_39.urdf b/assets/tools/urdf/tool_square_pen_39.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1d2657aa7e137f018140d60de163ad526b208e14
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_39.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_39">
+    <link name="tool_square_pen_39">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_39.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_39.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_4.urdf b/assets/tools/urdf/tool_square_pen_4.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b4c33072ff2f6cc8b7a2a1c28981085979f420c
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_4.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_4">
+    <link name="tool_square_pen_4">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_4.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_4.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_43.urdf b/assets/tools/urdf/tool_square_pen_43.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2474854fd219bc9e8d9387a2c2b98ecc6f5ee5d6
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_43.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_43">
+    <link name="tool_square_pen_43">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_43.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_43.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_44.urdf b/assets/tools/urdf/tool_square_pen_44.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eb61cff5c1b7344fcf2bf15126f901abc088e732
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_44.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_44">
+    <link name="tool_square_pen_44">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_44.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_44.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_45.urdf b/assets/tools/urdf/tool_square_pen_45.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c9b72977c94996aad8648b43843a0a43be415ac5
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_45.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_45">
+    <link name="tool_square_pen_45">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_45.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_45.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_47.urdf b/assets/tools/urdf/tool_square_pen_47.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d94360263ed1a8895453e266c00600622dd0412
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_47.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_47">
+    <link name="tool_square_pen_47">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_47.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_47.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_6.urdf b/assets/tools/urdf/tool_square_pen_6.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..187adbc64ca4b874b67975a4a279cd6c7b40376d
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_6.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_6">
+    <link name="tool_square_pen_6">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_6.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_6.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_7.urdf b/assets/tools/urdf/tool_square_pen_7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..87f6a679435a056f38c7f339fc8848c739aa9fb1
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_7.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_7">
+    <link name="tool_square_pen_7">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_7.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_7.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/urdf/tool_square_pen_8.urdf b/assets/tools/urdf/tool_square_pen_8.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..75932d0ee097d45b7235a9593ab3d7331cb9d121
--- /dev/null
+++ b/assets/tools/urdf/tool_square_pen_8.urdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot name="tool_square_pen_8">
+    <link name="tool_square_pen_8">
+        <visual>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_8.obj"/>
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="../mesh/square_pen/tool_square_pen_8.obj"/>
+            </geometry>
+            <sdf resolution="256"/>
+        </collision>
+    </link>
+</robot>
diff --git a/assets/tools/yaml/tool_asset_info.yaml b/assets/tools/yaml/tool_asset_info.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3d7c456e28121f26ba77c161bfeab51c4b7f0c7a
--- /dev/null
+++ b/assets/tools/yaml/tool_asset_info.yaml
@@ -0,0 +1,3851 @@
+tools:
+  tool_cylinder_1:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_1
+    length: 0.134372
+    thickness: 0.014656
+    width: 0.014656
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_2:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_2
+    length: 0.117082
+    thickness: 0.024243
+    width: 0.024243
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_3:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_3
+    length: 0.076562
+    thickness: 0.024041
+    width: 0.024041
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_4:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_4
+    length: 0.060875
+    thickness: 0.020698
+    width: 0.020698
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_5:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_5
+    length: 0.136678
+    thickness: 0.012469
+    width: 0.012469
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_6:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_6
+    length: 0.099022
+    thickness: 0.016803
+    width: 0.016803
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_7:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_7
+    length: 0.055425
+    thickness: 0.017486
+    width: 0.017486
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_8:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_8
+    length: 0.14208
+    thickness: 0.006341
+    width: 0.006341
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_9:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_9
+    length: 0.115316
+    thickness: 0.028566
+    width: 0.028566
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_10:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_10
+    length: 0.12754
+    thickness: 0.025795
+    width: 0.025795
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_11:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_11
+    length: 0.098909
+    thickness: 0.006985
+    width: 0.006985
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_12:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_12
+    length: 0.106983
+    thickness: 0.0111
+    width: 0.0111
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_13:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_13
+    length: 0.071217
+    thickness: 0.017036
+    width: 0.017036
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_14:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_14
+    length: 0.137131
+    thickness: 0.019539
+    width: 0.019539
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_15:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_15
+    length: 0.134917
+    thickness: 0.021728
+    width: 0.021728
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_16:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_16
+    length: 0.074907
+    thickness: 0.009332
+    width: 0.009332
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_17:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_17
+    length: 0.074456
+    thickness: 0.016679
+    width: 0.016679
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_18:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_18
+    length: 0.061394
+    thickness: 0.009981
+    width: 0.009981
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_19:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_19
+    length: 0.128124
+    thickness: 0.02021
+    width: 0.02021
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_20:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_20
+    length: 0.066627
+    thickness: 0.014652
+    width: 0.014652
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_21:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_21
+    length: 0.1322
+    thickness: 0.015854
+    width: 0.015854
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_22:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_22
+    length: 0.058488
+    thickness: 0.012046
+    width: 0.012046
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_23:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_23
+    length: 0.116341
+    thickness: 0.00554
+    width: 0.00554
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_24:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_24
+    length: 0.1002
+    thickness: 0.028601
+    width: 0.028601
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_25:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_25
+    length: 0.099761
+    thickness: 0.026814
+    width: 0.026814
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_26:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_26
+    length: 0.110018
+    thickness: 0.029495
+    width: 0.029495
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_27:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_27
+    length: 0.062845
+    thickness: 0.025718
+    width: 0.025718
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_28:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_28
+    length: 0.061516
+    thickness: 0.02394
+    width: 0.02394
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_29:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_29
+    length: 0.093497
+    thickness: 0.02096
+    width: 0.02096
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_30:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_30
+    length: 0.114117
+    thickness: 0.019576
+    width: 0.019576
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_31:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_31
+    length: 0.098809
+    thickness: 0.005451
+    width: 0.005451
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_32:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_32
+    length: 0.095274
+    thickness: 0.010292
+    width: 0.010292
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_33:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_33
+    length: 0.078143
+    thickness: 0.014136
+    width: 0.014136
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_34:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_34
+    length: 0.123813
+    thickness: 0.012517
+    width: 0.012517
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_35:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_35
+    length: 0.112125
+    thickness: 0.020526
+    width: 0.020526
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_36:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_36
+    length: 0.077772
+    thickness: 0.012128
+    width: 0.012128
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_37:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_37
+    length: 0.050825
+    thickness: 0.020838
+    width: 0.020838
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_38:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_38
+    length: 0.131763
+    thickness: 0.0273
+    width: 0.0273
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_39:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_39
+    length: 0.082143
+    thickness: 0.019489
+    width: 0.019489
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_40:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_40
+    length: 0.105668
+    thickness: 0.016368
+    width: 0.016368
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_41:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_41
+    length: 0.11589
+    thickness: 0.005317
+    width: 0.005317
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_42:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_42
+    length: 0.131569
+    thickness: 0.022073
+    width: 0.022073
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_43:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_43
+    length: 0.119305
+    thickness: 0.021672
+    width: 0.021672
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_44:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_44
+    length: 0.086078
+    thickness: 0.013946
+    width: 0.013946
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_45:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_45
+    length: 0.05048
+    thickness: 0.02776
+    width: 0.02776
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_46:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_46
+    length: 0.101901
+    thickness: 0.02782
+    width: 0.02782
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_47:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_47
+    length: 0.07304
+    thickness: 0.011345
+    width: 0.011345
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_48:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_48
+    length: 0.09055
+    thickness: 0.016203
+    width: 0.016203
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder
+    scale_factor: 1
+  tool_cylinder_49:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_49
+    length: 0.145313
+    thickness: 0.01529
+    width: 0.01529
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+    urdf_path: tool_scraper_33
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+    urdf_path: tool_scraper_34
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+    urdf_path: tool_scraper_35
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+    density: 1200.0
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+    urdf_path: tool_scraper_36
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_37
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+    density: 1200.0
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_38
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+    density: 1200.0
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_39
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+    urdf_path: tool_scraper_40
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_41
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+    density: 1200.0
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_42
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+    urdf_path: tool_scraper_43
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_44
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_45
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+    friction: 1.0
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_46
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+    density: 1200.0
+    friction: 1.0
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+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_47
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+    density: 1200.0
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+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_48
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+    density: 1200.0
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_49
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+    friction: 1.0
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+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_scraper_50
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_1
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+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_2
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+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_3
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+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_4:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_4
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+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_5
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+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_6
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+    friction: 1.0
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+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_7
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+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_8
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+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_9
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_10
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_11
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_12:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_12
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+    width: 0.019923
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_13
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+    width: 0.018446
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_14
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+    width: 0.006045
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_15
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+    width: 0.011948
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_16:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_16
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+    width: 0.012411
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_17
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_18
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+    width: 0.011194
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_19
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+    width: 0.014679
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_20
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+    width: 0.013653
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_21:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_21
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+    width: 0.010669
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_22
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+    width: 0.008995
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_23
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+    width: 0.023034
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_24
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+    width: 0.010439
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_25
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+    width: 0.008347
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_26
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+    width: 0.024022
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_27
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_28
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+    width: 0.011492
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_29
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+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_30:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_30
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+    width: 0.013852
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_31
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+    width: 0.020974
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_32
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+    width: 0.022569
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_33
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+    width: 0.005461
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_34
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+    width: 0.021972
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_35:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_35
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+    width: 0.016593
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_36:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_36
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+    width: 0.020384
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
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+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_37
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+    width: 0.013004
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_38:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_38
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+    width: 0.020308
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_39:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_39
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+    width: 0.005523
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_40:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_40
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+    thickness: 0.008779
+    width: 0.008779
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_41:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_41
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+    thickness: 0.017956
+    width: 0.017956
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_42:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_42
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+    thickness: 0.008077
+    width: 0.008077
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_43:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_43
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+    thickness: 0.017844
+    width: 0.017844
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_44:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_44
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+    thickness: 0.005826
+    width: 0.005826
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_45:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_45
+    length: 0.117904
+    thickness: 0.019035
+    width: 0.019035
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_46:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_46
+    length: 0.145598
+    thickness: 0.022538
+    width: 0.022538
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_47:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_47
+    length: 0.123608
+    thickness: 0.016203
+    width: 0.016203
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_48:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_48
+    length: 0.091405
+    thickness: 0.016081
+    width: 0.016081
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_49:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_49
+    length: 0.06801
+    thickness: 0.021464
+    width: 0.021464
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_cylinder_pen_50:
+    urdf_par_dir: tools
+    urdf_path: tool_cylinder_pen_50
+    length: 0.110381
+    thickness: 0.016663
+    width: 0.016663
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: cylinder_pen
+    scale_factor: 1
+  tool_hex_pen_1:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_1
+    length: 0.067133
+    thickness: 0.018585
+    width: 0.02146
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_2:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_2
+    length: 0.116405
+    thickness: 0.009177
+    width: 0.010597
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_3:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_3
+    length: 0.077647
+    thickness: 0.01666
+    width: 0.019237
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_4:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_4
+    length: 0.068718
+    thickness: 0.007155
+    width: 0.008262
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_5:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_5
+    length: 0.111102
+    thickness: 0.013702
+    width: 0.015822
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_6:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_6
+    length: 0.08415
+    thickness: 0.019839
+    width: 0.022908
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_7:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_7
+    length: 0.087814
+    thickness: 0.010479
+    width: 0.0121
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_8:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_8
+    length: 0.119102
+    thickness: 0.00565
+    width: 0.006524
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_9:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_9
+    length: 0.114116
+    thickness: 0.010451
+    width: 0.012068
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_10:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_10
+    length: 0.130946
+    thickness: 0.021033
+    width: 0.024287
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_11:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_11
+    length: 0.137019
+    thickness: 0.008324
+    width: 0.009611
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_12:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_12
+    length: 0.114403
+    thickness: 0.013981
+    width: 0.016144
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_13:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_13
+    length: 0.141054
+    thickness: 0.021003
+    width: 0.024253
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_14:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_14
+    length: 0.115786
+    thickness: 0.017432
+    width: 0.020129
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_15:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_15
+    length: 0.072047
+    thickness: 0.005515
+    width: 0.006368
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_16:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_16
+    length: 0.064122
+    thickness: 0.006969
+    width: 0.008047
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_17:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_17
+    length: 0.087242
+    thickness: 0.006628
+    width: 0.007654
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_18:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_18
+    length: 0.118642
+    thickness: 0.020222
+    width: 0.02335
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_19:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_19
+    length: 0.14816
+    thickness: 0.005245
+    width: 0.006056
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_20:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_20
+    length: 0.090625
+    thickness: 0.019499
+    width: 0.022516
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_21:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_21
+    length: 0.148073
+    thickness: 0.010383
+    width: 0.011989
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_22:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_22
+    length: 0.109373
+    thickness: 0.006003
+    width: 0.006931
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_23:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_23
+    length: 0.085585
+    thickness: 0.005737
+    width: 0.006624
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_24:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_24
+    length: 0.064257
+    thickness: 0.006046
+    width: 0.006981
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_25:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_25
+    length: 0.149595
+    thickness: 0.021199
+    width: 0.024479
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_26:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_26
+    length: 0.093127
+    thickness: 0.011334
+    width: 0.013087
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_27:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_27
+    length: 0.115895
+    thickness: 0.012017
+    width: 0.013876
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_28:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_28
+    length: 0.139673
+    thickness: 0.009116
+    width: 0.010527
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_29:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_29
+    length: 0.127881
+    thickness: 0.009919
+    width: 0.011454
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_30:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_30
+    length: 0.078599
+    thickness: 0.005413
+    width: 0.00625
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_31:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_31
+    length: 0.066881
+    thickness: 0.008493
+    width: 0.009807
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_32:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_32
+    length: 0.113581
+    thickness: 0.020693
+    width: 0.023895
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_33:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_33
+    length: 0.127986
+    thickness: 0.005847
+    width: 0.006751
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_34:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_34
+    length: 0.127349
+    thickness: 0.012992
+    width: 0.015002
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_35:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_35
+    length: 0.145237
+    thickness: 0.006421
+    width: 0.007414
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_36:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_36
+    length: 0.095653
+    thickness: 0.020764
+    width: 0.023977
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_37:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_37
+    length: 0.141815
+    thickness: 0.018162
+    width: 0.020972
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_38:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_38
+    length: 0.10207
+    thickness: 0.006876
+    width: 0.00794
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_39:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_39
+    length: 0.06351
+    thickness: 0.007992
+    width: 0.009229
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_40:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_40
+    length: 0.079165
+    thickness: 0.020326
+    width: 0.02347
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_41:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_41
+    length: 0.090189
+    thickness: 0.014
+    width: 0.016166
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_42:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_42
+    length: 0.076123
+    thickness: 0.011804
+    width: 0.01363
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_43:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_43
+    length: 0.140189
+    thickness: 0.015416
+    width: 0.017801
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_44:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_44
+    length: 0.070911
+    thickness: 0.010572
+    width: 0.012207
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_45:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_45
+    length: 0.097456
+    thickness: 0.014352
+    width: 0.016572
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_46:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_46
+    length: 0.085136
+    thickness: 0.014186
+    width: 0.016381
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_47:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_47
+    length: 0.082303
+    thickness: 0.014368
+    width: 0.016591
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_48:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_48
+    length: 0.109037
+    thickness: 0.016243
+    width: 0.018755
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_49:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_49
+    length: 0.111112
+    thickness: 0.016772
+    width: 0.019367
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_hex_pen_50:
+    urdf_par_dir: tools
+    urdf_path: tool_hex_pen_50
+    length: 0.143453
+    thickness: 0.016641
+    width: 0.019215
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: hex_pen
+    scale_factor: 1
+  tool_square_pen_1:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_1
+    length: 0.101094
+    thickness: 0.020549
+    width: 0.020549
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_2:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_2
+    length: 0.100756
+    thickness: 0.007895
+    width: 0.007895
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_3:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_3
+    length: 0.072212
+    thickness: 0.013874
+    width: 0.013874
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_4:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_4
+    length: 0.110279
+    thickness: 0.018007
+    width: 0.018007
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_5:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_5
+    length: 0.139894
+    thickness: 0.016613
+    width: 0.016613
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_6:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_6
+    length: 0.064722
+    thickness: 0.02284
+    width: 0.02284
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_7:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_7
+    length: 0.081608
+    thickness: 0.013751
+    width: 0.013751
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_8:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_8
+    length: 0.071545
+    thickness: 0.018562
+    width: 0.018562
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_9:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_9
+    length: 0.110327
+    thickness: 0.006169
+    width: 0.006169
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_10:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_10
+    length: 0.065879
+    thickness: 0.005431
+    width: 0.005431
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_11:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_11
+    length: 0.14423
+    thickness: 0.023973
+    width: 0.023973
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_12:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_12
+    length: 0.121745
+    thickness: 0.021568
+    width: 0.021568
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_13:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_13
+    length: 0.133114
+    thickness: 0.019295
+    width: 0.019295
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_14:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_14
+    length: 0.14856
+    thickness: 0.011111
+    width: 0.011111
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_15:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_15
+    length: 0.076799
+    thickness: 0.017213
+    width: 0.017213
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_16:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_16
+    length: 0.088615
+    thickness: 0.016095
+    width: 0.016095
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_17:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_17
+    length: 0.076815
+    thickness: 0.012904
+    width: 0.012904
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_18:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_18
+    length: 0.12063
+    thickness: 0.022509
+    width: 0.022509
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_19:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_19
+    length: 0.139335
+    thickness: 0.008187
+    width: 0.008187
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_20:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_20
+    length: 0.125683
+    thickness: 0.01737
+    width: 0.01737
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_21:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_21
+    length: 0.137793
+    thickness: 0.017207
+    width: 0.017207
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_22:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_22
+    length: 0.068974
+    thickness: 0.010281
+    width: 0.010281
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_23:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_23
+    length: 0.133667
+    thickness: 0.017453
+    width: 0.017453
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_24:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_24
+    length: 0.119405
+    thickness: 0.017593
+    width: 0.017593
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_25:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_25
+    length: 0.08156
+    thickness: 0.010098
+    width: 0.010098
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_26:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_26
+    length: 0.128487
+    thickness: 0.010213
+    width: 0.010213
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_27:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_27
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+    thickness: 0.016242
+    width: 0.016242
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_28:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_28
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+    thickness: 0.01587
+    width: 0.01587
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_29:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_29
+    length: 0.129906
+    thickness: 0.024401
+    width: 0.024401
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_30:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_30
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+    thickness: 0.012938
+    width: 0.012938
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_31:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_31
+    length: 0.116242
+    thickness: 0.014454
+    width: 0.014454
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_32:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_32
+    length: 0.126857
+    thickness: 0.019885
+    width: 0.019885
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_33:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_33
+    length: 0.075164
+    thickness: 0.010374
+    width: 0.010374
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_34:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_34
+    length: 0.117122
+    thickness: 0.00638
+    width: 0.00638
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_35:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_35
+    length: 0.144282
+    thickness: 0.013591
+    width: 0.013591
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_36:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_36
+    length: 0.110679
+    thickness: 0.013745
+    width: 0.013745
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_37:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_37
+    length: 0.127874
+    thickness: 0.016987
+    width: 0.016987
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_38:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_38
+    length: 0.119661
+    thickness: 0.007928
+    width: 0.007928
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_39:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_39
+    length: 0.06755
+    thickness: 0.010983
+    width: 0.010983
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_40:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_40
+    length: 0.131981
+    thickness: 0.011227
+    width: 0.011227
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_41:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_41
+    length: 0.111176
+    thickness: 0.018872
+    width: 0.018872
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_42:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_42
+    length: 0.069494
+    thickness: 0.024755
+    width: 0.024755
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_43:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_43
+    length: 0.085222
+    thickness: 0.006407
+    width: 0.006407
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_44:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_44
+    length: 0.105399
+    thickness: 0.016006
+    width: 0.016006
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_45:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_45
+    length: 0.114151
+    thickness: 0.019055
+    width: 0.019055
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_46:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_46
+    length: 0.148919
+    thickness: 0.005569
+    width: 0.005569
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_47:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_47
+    length: 0.138795
+    thickness: 0.023246
+    width: 0.023246
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_48:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_48
+    length: 0.12874
+    thickness: 0.005516
+    width: 0.005516
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_49:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_49
+    length: 0.084879
+    thickness: 0.015303
+    width: 0.015303
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1
+  tool_square_pen_50:
+    urdf_par_dir: tools
+    urdf_path: tool_square_pen_50
+    length: 0.100411
+    thickness: 0.016625
+    width: 0.016625
+    density: 1200.0
+    friction: 1.0
+    grasp_offset: 0.05
+    tool_type: square_pen
+    scale_factor: 1