diff --git a/robots/alex_description/meshes/SakePalmLink.obj b/robots/alex_description/meshes/SakePalmLink.obj
index 2b643ee..13d6116 100755
--- a/robots/alex_description/meshes/SakePalmLink.obj
+++ b/robots/alex_description/meshes/SakePalmLink.obj
@@ -1640,354 +1640,354 @@ o EZG_IM_Mount___MODEL
 g EZG_IM_Mount___MODEL
 usemtl wire_027177027
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 #
@@ -7369,1891 +7369,1890 @@ o EZG_IM_Hand_Gen_2_5___MODEL
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-f 564//1471 646//1472 421//1473 
-f 912//1474 432//1475 316//1476 
-f 638//1477 826//1478 553//1479 
-f 590//1480 522//1481 723//1482 
-f 454//1483 589//1484 254//1485 
-f 836//1486 447//1487 549//1488 
-f 374//1489 196//1490 368//1491 
-f 334//1492 671//1493 891//1494 
-f 635//1495 256//1496 633//1497 
-f 538//1498 452//1499 884//1500 
-f 307//1501 520//1502 370//1503 
-f 370//1504 467//1505 355//1506 
-f 178//1507 474//1508 381//1509 
-f 455//1510 199//1511 258//1512 
-f 259//1513 220//1514 204//1515 
-f 888//1516 447//1517 750//1518 
-f 803//1519 446//1520 805//1521 
-f 353//1522 861//1523 313//1524 
-f 586//1525 791//1526 893//1527 
-f 501//1528 565//1529 377//1530 
-f 735//1531 332//1532 743//1533 
-f 717//1534 591//1535 540//1536 
-s 1
-f 194//1537 263//1538 395//1539 
-s off
-f 453//1540 481//1541 399//1542 
-f 714//1543 948//1544 878//1545 
-f 679//1546 714//1547 650//1548 
-f 570//1549 519//1550 798//1551 
-f 710//1552 605//1553 406//1554 
-f 267//1555 534//1556 268//1557 
-f 270//1558 545//1559 271//1560 
-f 273//1561 533//1562 274//1563 
-f 276//1564 546//1565 277//1566 
-s 1
-f 263//1567 197//1568 395//1569 
-s off
-f 239//1570 278//1571 698//1572 
-f 224//1573 279//1574 740//1575 
-f 913//1576 585//1577 694//1578 
-f 388//1579 249//1580 458//1581 
-f 593//1582 862//1583 477//1584 
-f 281//1585 943//1586 530//1587 
-f 795//1588 712//1589 646//1590 
-f 780//1591 682//1592 529//1593 
-f 282//1594 509//1595 235//1596 
-f 664//1597 596//1598 283//1599 
-f 578//1600 420//1601 457//1602 
-f 202//1603 473//1604 383//1605 
-f 397//1606 631//1607 924//1608 
-f 630//1609 349//1610 828//1611 
-f 591//1612 172//1613 584//1614 
-f 871//1615 286//1616 637//1617 
-s 1
-f 674//1618 864//1619 766//1620 
-f 768//1621 673//1622 833//1623 
-s off
-f 583//1624 287//1625 636//1626 
-f 324//1627 392//1628 288//1629 
-f 612//1630 231//1631 372//1632 
-f 483//1633 580//1634 582//1635 
-f 188//1636 415//1637 665//1638 
-f 619//1639 193//1640 290//1641 
-f 191//1642 290//1643 365//1644 
-f 582//1645 580//1646 494//1647 
-f 414//1648 666//1649 291//1650 
-f 369//1651 557//1652 292//1653 
-s 1
-f 459//1654 420//1655 578//1656 
-s off
-f 517//1657 293//1658 263//1659 
-f 374//1660 368//1661 810//1662 
-s 1
-f 806//1663 537//1664 936//1665 
-s off
-f 331//1666 185//1667 811//1668 
-f 596//1669 649//1670 755//1671 
-f 295//1672 617//1673 787//1674 
-f 360//1675 736//1676 485//1677 
-f 866//1678 771//1679 834//1680 
-f 456//1681 226//1682 199//1683 
-f 473//1684 297//1685 896//1686 
-f 929//1687 849//1688 298//1689 
-f 956//1690 385//1691 916//1692 
-s 1
-f 470//1693 701//1694 662//1695 
-s off
-f 203//1696 299//1697 720//1698 
-f 300//1699 600//1700 341//1701 
-f 748//1702 402//1703 215//1704 
-f 804//1705 398//1706 725//1707 
-f 616//1708 324//1709 869//1710 
-f 935//1711 302//1712 419//1713 
-f 254//1714 838//1715 935//1716 
-f 886//1717 303//1718 696//1719 
-s 1
-f 590//1720 732//1721 303//1722 
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-f 474//1723 230//1724 897//1725 
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-f 907//1729 707//1730 791//1731 
-f 450//1732 916//1733 440//1734 
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-f 809//1756 475//1757 870//1758 
-f 379//1759 799//1760 310//1761 
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-s off
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+f 841//2512 827//2513 437//2514
+s 1
+f 757//2515 438//2516 871//2517
+f 286//2518 785//2519 543//2520
+s off
+f 613//2521 191//2522 695//2523
+s 1
+f 439//2524 794//2525 191//2526
+s off
+f 554//2527 174//2528 440//2529
+f 174//2530 680//2531 440//2532
+f 441//2533 569//2534 367//2535
+f 182//2536 441//2537 367//2538
+s 1
+f 293//2539 442//2540 364//2541
+f 223//2542 442//2543 922//2544
+f 205//2545 215//2546 835//2547
+f 640//2548 443//2549 459//2550
+s off
+f 894//2551 491//2552 817//2553
+f 663//2554 211//2555 337//2556
+f 445//2557 278//2558 239//2559
+s 1
+f 460//2560 445//2561 239//2562
+s off
+f 387//2563 446//2564 541//2565
+f 446//2566 667//2567 260//2568
+s 1
+f 888//2569 259//2570 887//2571
+f 753//2572 594//2573 581//2574
+f 448//2575 340//2576 359//2577
+f 278//2578 737//2579 448//2580
+s off
+f 305//2581 361//2582 449//2583
+f 449//2584 385//2585 902//2586
+f 643//2587 763//2588 588//2589
+f 450//2590 668//2591 190//2592
+f 854//2593 687//2594 451//2595
+f 631//2596 639//2597 924//2598
+s 1
+f 256//2599 452//2600 538//2601
+s off
+f 203//2602 720//2603 661//2604
+s 1
+f 376//2605 481//2606 453//2607
+f 376//2608 453//2609 322//2610
+f 720//2611 772//2612 597//2613
+s off
+f 769//2614 254//2615 672//2616
+f 451//2617 455//2618 652//2619
+f 230//2620 455//2621 897//2622
+f 297//2623 456//2624 896//2625
+f 456//2626 653//2627 618//2628
+f 457//2629 664//2630 283//2631
+f 847//2632 846//2633 457//2634
+f 280//2635 388//2636 458//2637
+f 593//2638 786//2639 677//2640
+f 459//2641 292//2642 557//2643
+s 1
+f 857//2644 214//2645 201//2646
+f 460//2647 587//2648 308//2649
+s off
+f 460//2650 359//2651 187//2652
+s 1
+f 303//2653 461//2654 213//2655
+s off
+f 461//2656 489//2657 213//2658
+f 458//2659 249//2660 462//2661
+f 249//2662 691//2663 462//2664
+s 1
+f 422//2665 207//2666 463//2667
+f 463//2668 626//2669 679//2670
+s off
+f 464//2671 390//2672 821//2673
+f 929//2674 559//2675 778//2676
+s 1
+f 749//2677 465//2678 660//2679
+s off
+f 547//2680 413//2681 465//2682
+s 1
+f 543//2683 466//2684 676//2685
+f 466//2686 864//2687 674//2688
+f 833//2689 673//2690 467//2691
+f 550//2692 467//2693 675//2694
+s off
+f 876//2695 468//2696 261//2697
+f 902//2698 721//2699 791//2700
+f 298//2701 849//2702 469//2703
+f 730//2704 385//2705 956//2706
+s 1
+f 720//2707 955//2708 772//2709
+f 203//2710 923//2711 299//2712
 s off
-f 291//2713 471//2714 502//2715 
-f 847//2716 471//2717 846//2718 
-f 292//2719 472//2720 495//2721 
-f 848//2722 289//2723 472//2724 
-f 959//2725 284//2726 297//2727 
-f 742//2728 959//2729 639//2730 
-f 958//2731 304//2732 230//2733 
-f 743//2734 958//2735 735//2736 
-f 188//2737 475//2738 777//2739 
-f 309//2740 475//2741 850//2742 
-f 620//2743 458//2744 352//2745 
-f 957//2746 352//2747 238//2748 
-f 741//2749 320//2750 209//2751 
-f 477//2752 209//2753 615//2754 
+f 291//2713 471//2714 502//2715
+f 847//2716 471//2717 846//2718
+f 292//2719 472//2720 495//2721
+f 848//2722 289//2723 472//2724
+f 959//2725 284//2726 297//2727
+f 742//2728 959//2729 639//2730
+f 958//2731 304//2732 230//2733
+f 743//2734 958//2735 735//2736
+f 188//2737 475//2738 777//2739
+f 309//2740 475//2741 850//2742
+f 620//2743 458//2744 352//2745
+f 957//2746 352//2747 238//2748
+f 741//2749 320//2750 209//2751
+f 477//2752 209//2753 615//2754
 s 1
-f 937//2755 651//2756 285//2757 
-f 591//2758 584//2759 540//2760 
+f 937//2755 651//2756 285//2757
+f 591//2758 584//2759 540//2760
 s off
-f 226//2761 245//2762 479//2763 
-f 800//2764 245//2765 789//2766 
-f 208//2767 421//2768 646//2769 
-f 715//2770 480//2771 493//2772 
+f 226//2761 245//2762 479//2763
+f 800//2764 245//2765 789//2766
+f 208//2767 421//2768 646//2769
+f 715//2770 480//2771 493//2772
 s 1
-f 376//2773 194//2774 481//2775 
-f 408//2776 481//2777 194//2778 
+f 376//2773 194//2774 481//2775
+f 408//2776 481//2777 194//2778
 s off
-f 237//2779 242//2780 482//2781 
-f 525//2782 237//2783 482//2784 
-f 483//2785 188//2786 665//2787 
-f 848//2788 483//2789 289//2790 
+f 237//2779 242//2780 482//2781
+f 525//2782 237//2783 482//2784
+f 483//2785 188//2786 665//2787
+f 848//2788 483//2789 289//2790
 s 1
-f 484//2791 690//2792 642//2793 
-f 325//2794 484//2795 782//2796 
+f 484//2791 690//2792 642//2793
+f 325//2794 484//2795 782//2796
 s off
-f 485//2797 886//2798 200//2799 
-f 601//2800 360//2801 485//2802 
+f 485//2797 886//2798 200//2799
+f 601//2800 360//2801 485//2802
 s 1
-f 223//2803 810//2804 442//2805 
-f 442//2806 486//2807 364//2808 
-f 340//2809 487//2810 359//2811 
-f 340//2812 492//2813 487//2814 
+f 223//2803 810//2804 442//2805
+f 442//2806 486//2807 364//2808
+f 340//2809 487//2810 359//2811
+f 340//2812 492//2813 487//2814
 s off
-f 374//2815 488//2816 196//2817 
-f 196//2818 488//2819 691//2820 
+f 374//2815 488//2816 196//2817
+f 196//2818 488//2819 691//2820
 s 1
-f 207//2821 489//2822 463//2823 
-f 560//2824 463//2825 489//2826 
-s off
-f 526//2827 246//2828 490//2829 
-f 257//2830 490//2831 246//2832 
-f 311//2833 491//2834 741//2835 
-f 668//2836 450//2837 762//2838 
-s 1
-f 340//2839 197//2840 492//2841 
-f 263//2842 492//2843 197//2844 
-s off
-f 739//2845 912//2846 316//2847 
-f 931//2848 899//2849 324//2850 
-f 314//2851 494//2852 175//2853 
-f 494//2854 291//2855 666//2856 
-f 292//2857 495//2858 369//2859 
-f 369//2860 496//2861 577//2862 
-s 1
-f 700//2863 240//2864 496//2865 
-f 700//2866 496//2867 807//2868 
-s off
-f 315//2869 497//2870 186//2871 
-f 527//2872 186//2873 497//2874 
-f 562//2875 234//2876 754//2877 
-f 747//2878 590//2879 498//2880 
-s 1
-f 379//2881 310//2882 499//2883 
-f 379//2884 499//2885 321//2886 
-s off
-f 667//2887 446//2888 803//2889 
-f 221//2890 500//2891 822//2892 
-f 713//2893 377//2894 193//2895 
-f 632//2896 400//2897 501//2898 
-s 1
-f 699//2899 243//2900 503//2901 
-s off
-f 291//2902 502//2903 414//2904 
-s 1
-f 699//2905 503//2906 796//2907 
-s off
-f 414//2908 503//2909 576//2910 
-s 1
-f 781//2911 362//2912 504//2913 
-f 496//2914 240//2915 577//2916 
-f 503//2917 243//2918 576//2919 
-f 529//2920 505//2921 780//2922 
-s off
-f 482//2923 242//2924 506//2925 
-f 765//2926 506//2927 242//2928 
-s 1
-f 684//2929 507//2930 354//2931 
-f 773//2932 774//2933 354//2934 
-f 205//2935 905//2936 378//2937 
-f 524//2938 378//2939 508//2940 
-s off
-f 509//2941 246//2942 235//2943 
-s 1
-f 682//2944 509//2945 529//2946 
-f 683//2947 510//2948 362//2949 
-s off
-f 510//2950 237//2951 329//2952 
-s 1
-f 300//2953 511//2954 606//2955 
-f 645//2956 403//2957 511//2958 
-s off
-f 764//2959 512//2960 257//2961 
-f 512//2962 490//2963 257//2964 
-f 235//2965 513//2966 394//2967 
-f 765//2968 242//2969 394//2970 
-f 764//2971 257//2972 307//2973 
-f 329//2974 514//2975 307//2976 
-f 684//2977 180//2978 393//2979 
-f 555//2980 180//2981 515//2982 
-s 1
-f 308//2983 903//2984 516//2985 
-f 308//2986 590//2987 303//2988 
-f 223//2989 922//2990 517//2991 
-f 223//2992 517//2993 375//2994 
-s off
-f 518//2995 790//2996 336//2997 
-f 518//2998 336//2999 805//3000 
-f 399//3001 212//3002 840//3003 
-f 453//3004 399//3005 840//3006 
-f 307//3007 257//3008 520//3009 
-s 1
-f 520//3010 768//3011 833//3012 
-f 521//3013 766//3014 864//3015 
-s off
-f 394//3016 242//3017 521//3018 
-f 437//3019 716//3020 351//3021 
-f 865//3022 522//3023 516//3024 
-s 1
-f 748//3025 389//3026 523//3027 
-f 330//3028 523//3029 607//3030 
-f 331//3031 524//3032 508//3033 
-f 244//3034 524//3035 331//3036 
-s off
-f 329//3037 237//3038 525//3039 
-f 329//3040 525//3041 514//3042 
-f 526//3043 513//3044 235//3045 
-f 235//3046 246//3047 526//3048 
-f 773//3049 251//3050 527//3051 
-f 251//3052 186//3053 527//3054 
-s 1
-f 222//3055 410//3056 528//3057 
-f 824//3058 528//3059 608//3060 
-f 816//3061 529//3062 509//3063 
-s off
-f 505//3064 529//3065 282//3066 
-f 313//3067 530//3068 943//3069 
-f 822//3070 313//3071 221//3072 
-f 191//3073 531//3074 695//3075 
-f 898//3076 531//3077 350//3078 
-f 532//3079 494//3080 314//3081 
-f 863//3082 532//3083 818//3084 
-f 273//3085 874//3086 533//3087 
-f 268//3088 534//3089 266//3090 
-f 247//3091 535//3092 752//3093 
-f 829//3094 398//3095 206//3096 
-f 536//3097 233//3098 241//3099 
-s 1
-f 734//3100 614//3101 536//3102 
-f 806//3103 856//3104 537//3105 
-f 600//3106 537//3107 294//3108 
-s off
-f 176//3109 256//3110 538//3111 
-f 176//3112 538//3113 431//3114 
-f 870//3115 539//3116 809//3117 
-f 309//3118 850//3119 539//3120 
-s 1
-f 540//3121 285//3122 717//3123 
-f 285//3124 540//3125 584//3126 
-s off
-f 802//3127 861//3128 731//3129 
-f 260//3130 541//3131 446//3132 
-f 542//3133 643//3134 951//3135 
-f 542//3136 677//3137 620//3138 
-s 1
-f 757//3139 543//3140 438//3141 
-s off
-f 543//3142 232//3143 466//3144 
-f 880//3145 909//3146 341//3147 
-s 1
-f 341//3148 544//3149 602//3150 
-s off
-f 271//3151 545//3152 269//3153 
-f 276//3154 875//3155 546//3156 
-s 1
-f 551//3157 547//3158 658//3159 
-f 465//3160 219//3161 547//3162 
-f 465//3163 548//3164 219//3165 
-f 658//3166 547//3167 219//3168 
-f 838//3169 302//3170 935//3171 
-f 549//3172 594//3173 753//3174 
-f 745//3175 550//3176 427//3177 
-s off
-f 550//3178 355//3179 467//3180 
-s 1
-f 746//3181 551//3182 426//3183 
-s off
-f 551//3184 236//3185 547//3186 
-f 809//3187 539//3188 552//3189 
-f 552//3190 497//3191 315//3192 
-f 553//3193 348//3194 179//3195 
-f 826//3196 915//3197 553//3198 
-f 554//3199 819//3200 305//3201 
-f 791//3202 707//3203 902//3204 
-f 555//3205 532//3206 863//3207 
-f 319//3208 180//3209 555//3210 
-f 860//3211 178//3212 381//3213 
-f 735//3214 556//3215 920//3216 
-s 1
-f 913//3217 672//3218 935//3219 
-f 557//3220 722//3221 459//3222 
-s off
-f 592//3223 842//3224 948//3225 
-f 558//3226 228//3227 405//3228 
-f 790//3229 195//3230 336//3231 
-f 929//3232 195//3233 559//3234 
-f 598//3235 759//3236 229//3237 
-f 852//3238 560//3239 625//3240 
-s 1
-f 470//3241 561//3242 299//3243 
-f 470//3244 248//3245 561//3246 
-s off
-f 562//3247 366//3248 234//3249 
-f 834//3250 366//3251 866//3252 
-f 563//3253 337//3254 211//3255 
-f 253//3256 337//3257 563//3258 
-f 173//3259 564//3260 353//3261 
-f 564//3262 421//3263 731//3264 
-f 610//3265 565//3266 227//3267 
-f 227//3268 680//3269 586//3270 
-s 1
-f 843//3271 946//3272 566//3273 
-f 371//3274 566//3275 244//3276 
+f 207//2821 489//2822 463//2823
+f 560//2824 463//2825 489//2826
+s off
+f 526//2827 246//2828 490//2829
+f 257//2830 490//2831 246//2832
+f 311//2833 491//2834 741//2835
+f 668//2836 450//2837 762//2838
+s 1
+f 340//2839 197//2840 492//2841
+f 263//2842 492//2843 197//2844
+s off
+f 739//2845 912//2846 316//2847
+f 931//2848 899//2849 324//2850
+f 314//2851 494//2852 175//2853
+f 494//2854 291//2855 666//2856
+f 292//2857 495//2858 369//2859
+f 369//2860 496//2861 577//2862
+s 1
+f 700//2863 240//2864 496//2865
+f 700//2866 496//2867 807//2868
+s off
+f 315//2869 497//2870 186//2871
+f 527//2872 186//2873 497//2874
+f 562//2875 234//2876 754//2877
+f 747//2878 590//2879 498//2880
+s 1
+f 379//2881 310//2882 499//2883
+f 379//2884 499//2885 321//2886
+s off
+f 667//2887 446//2888 803//2889
+f 221//2890 500//2891 822//2892
+f 713//2893 377//2894 193//2895
+f 632//2896 400//2897 501//2898
+s 1
+f 699//2899 243//2900 503//2901
+s off
+f 291//2902 502//2903 414//2904
+s 1
+f 699//2905 503//2906 796//2907
+s off
+f 414//2908 503//2909 576//2910
+s 1
+f 781//2911 362//2912 504//2913
+f 496//2914 240//2915 577//2916
+f 503//2917 243//2918 576//2919
+f 529//2920 505//2921 780//2922
+s off
+f 482//2923 242//2924 506//2925
+f 765//2926 506//2927 242//2928
+s 1
+f 684//2929 507//2930 354//2931
+f 773//2932 774//2933 354//2934
+f 205//2935 905//2936 378//2937
+f 524//2938 378//2939 508//2940
+s off
+f 509//2941 246//2942 235//2943
+s 1
+f 682//2944 509//2945 529//2946
+f 683//2947 510//2948 362//2949
+s off
+f 510//2950 237//2951 329//2952
+s 1
+f 300//2953 511//2954 606//2955
+f 645//2956 403//2957 511//2958
+s off
+f 764//2959 512//2960 257//2961
+f 512//2962 490//2963 257//2964
+f 235//2965 513//2966 394//2967
+f 765//2968 242//2969 394//2970
+f 764//2971 257//2972 307//2973
+f 329//2974 514//2975 307//2976
+f 684//2977 180//2978 393//2979
+f 555//2980 180//2981 515//2982
+s 1
+f 308//2983 903//2984 516//2985
+f 308//2986 590//2987 303//2988
+f 223//2989 922//2990 517//2991
+f 223//2992 517//2993 375//2994
+s off
+f 518//2995 790//2996 336//2997
+f 518//2998 336//2999 805//3000
+f 399//3001 212//3002 840//3003
+f 453//3004 399//3005 840//3006
+f 307//3007 257//3008 520//3009
+s 1
+f 520//3010 768//3011 833//3012
+f 521//3013 766//3014 864//3015
+s off
+f 394//3016 242//3017 521//3018
+f 437//3019 716//3020 351//3021
+f 865//3022 522//3023 516//3024
+s 1
+f 748//3025 389//3026 523//3027
+f 330//3028 523//3029 607//3030
+f 331//3031 524//3032 508//3033
+f 244//3034 524//3035 331//3036
+s off
+f 329//3037 237//3038 525//3039
+f 329//3040 525//3041 514//3042
+f 526//3043 513//3044 235//3045
+f 235//3046 246//3047 526//3048
+f 773//3049 251//3050 527//3051
+f 251//3052 186//3053 527//3054
+s 1
+f 222//3055 410//3056 528//3057
+f 824//3058 528//3059 608//3060
+f 816//3061 529//3062 509//3063
+s off
+f 505//3064 529//3065 282//3066
+f 313//3067 530//3068 943//3069
+f 822//3070 313//3071 221//3072
+f 191//3073 531//3074 695//3075
+f 898//3076 531//3077 350//3078
+f 532//3079 494//3080 314//3081
+f 863//3082 532//3083 818//3084
+f 273//3085 874//3086 533//3087
+f 268//3088 534//3089 266//3090
+f 247//3091 535//3092 752//3093
+f 829//3094 398//3095 206//3096
+f 536//3097 233//3098 241//3099
+s 1
+f 734//3100 614//3101 536//3102
+f 806//3103 856//3104 537//3105
+f 600//3106 537//3107 294//3108
+s off
+f 176//3109 256//3110 538//3111
+f 176//3112 538//3113 431//3114
+f 870//3115 539//3116 809//3117
+f 309//3118 850//3119 539//3120
+s 1
+f 540//3121 285//3122 717//3123
+f 285//3124 540//3125 584//3126
+s off
+f 802//3127 861//3128 731//3129
+f 260//3130 541//3131 446//3132
+f 542//3133 643//3134 951//3135
+f 542//3136 677//3137 620//3138
+s 1
+f 757//3139 543//3140 438//3141
+s off
+f 543//3142 232//3143 466//3144
+f 880//3145 909//3146 341//3147
+s 1
+f 341//3148 544//3149 602//3150
+s off
+f 271//3151 545//3152 269//3153
+f 276//3154 875//3155 546//3156
+s 1
+f 551//3157 547//3158 658//3159
+f 465//3160 219//3161 547//3162
+f 465//3163 548//3164 219//3165
+f 658//3166 547//3167 219//3168
+f 838//3169 302//3170 935//3171
+f 549//3172 594//3173 753//3174
+f 745//3175 550//3176 427//3177
+s off
+f 550//3178 355//3179 467//3180
+s 1
+f 746//3181 551//3182 426//3183
+s off
+f 551//3184 236//3185 547//3186
+f 809//3187 539//3188 552//3189
+f 552//3190 497//3191 315//3192
+f 553//3193 348//3194 179//3195
+f 826//3196 915//3197 553//3198
+f 554//3199 819//3200 305//3201
+f 791//3202 707//3203 902//3204
+f 555//3205 532//3206 863//3207
+f 319//3208 180//3209 555//3210
+f 860//3211 178//3212 381//3213
+f 735//3214 556//3215 920//3216
+s 1
+f 913//3217 672//3218 935//3219
+f 557//3220 722//3221 459//3222
+s off
+f 592//3223 842//3224 948//3225
+f 558//3226 228//3227 405//3228
+f 790//3229 195//3230 336//3231
+f 929//3232 195//3233 559//3234
+f 598//3235 759//3236 229//3237
+f 852//3238 560//3239 625//3240
+s 1
+f 470//3241 561//3242 299//3243
+f 470//3244 248//3245 561//3246
+s off
+f 562//3247 366//3248 234//3249
+f 834//3250 366//3251 866//3252
+f 563//3253 337//3254 211//3255
+f 253//3256 337//3257 563//3258
+f 173//3259 564//3260 353//3261
+f 564//3262 421//3263 731//3264
+f 610//3265 565//3266 227//3267
+f 227//3268 680//3269 586//3270
+s 1
+f 843//3271 946//3272 566//3273
+f 371//3274 566//3275 244//3276
 s off
-f 567//3277 823//3278 373//3279 
-f 567//3280 763//3281 643//3282 
+f 567//3277 823//3278 373//3279
+f 567//3280 763//3281 643//3282
 s 1
-f 418//3283 201//3284 568//3285 
-f 418//3286 568//3287 363//3288 
+f 418//3283 201//3284 568//3285
+f 418//3286 568//3287 363//3288
 s off
-f 357//3289 605//3290 569//3291 
-f 288//3292 357//3293 569//3294 
+f 357//3289 605//3290 569//3291
+f 288//3292 357//3293 569//3294
 s 1
-f 453//3295 570//3296 322//3297 
-f 453//3298 519//3299 570//3300 
-f 571//3301 627//3302 513//3303 
-f 776//3304 571//3305 513//3306 
-f 514//3307 775//3308 572//3309 
-f 572//3310 624//3311 514//3312 
+f 453//3295 570//3296 322//3297
+f 453//3298 519//3299 570//3300
+f 571//3301 627//3302 513//3303
+f 776//3304 571//3305 513//3306
+f 514//3307 775//3308 572//3309
+f 572//3310 624//3311 514//3312
 s off
-f 573//3313 490//3314 506//3315 
+f 573//3313 490//3314 506//3315
 s 1
-f 727//3316 573//3317 526//3318 
+f 727//3316 573//3317 526//3318
 s off
-f 574//3319 497//3320 515//3321 
+f 574//3319 497//3320 515//3321
 s 1
-f 728//3322 574//3323 527//3324 
+f 728//3322 574//3323 527//3324
 s off
-f 575//3325 482//3326 512//3327 
+f 575//3325 482//3326 512//3327
 s 1
-f 729//3328 575//3329 525//3330 
-f 576//3331 505//3332 414//3333 
-f 576//3334 243//3335 505//3336 
-f 577//3337 240//3338 504//3339 
-f 577//3340 504//3341 369//3342 
+f 729//3328 575//3329 525//3330
+f 576//3331 505//3332 414//3333
+f 576//3334 243//3335 505//3336
+f 577//3337 240//3338 504//3339
+f 577//3340 504//3341 369//3342
 s off
-f 578//3343 483//3344 848//3345 
-f 578//3346 292//3347 459//3348 
+f 578//3343 483//3344 848//3345
+f 578//3346 292//3347 459//3348
 s 1
-f 579//3349 858//3350 330//3351 
-f 758//3352 579//3353 330//3354 
+f 579//3349 858//3350 330//3351
+f 758//3352 579//3353 330//3354
 s off
-f 580//3355 291//3356 494//3357 
-f 457//3358 846//3359 580//3360 
+f 580//3355 291//3356 494//3357
+f 457//3358 846//3359 580//3360
 s 1
-f 259//3361 581//3362 447//3363 
-f 204//3364 581//3365 259//3366 
-s off
-f 539//3367 850//3368 582//3369 
-f 582//3370 188//3371 483//3372 
-f 583//3373 471//3374 847//3375 
-f 583//3376 283//3377 745//3378 
-s 1
-f 630//3379 285//3380 584//3381 
-f 172//3382 478//3383 584//3384 
-s off
-f 913//3385 181//3386 585//3387 
-f 883//3388 740//3389 279//3390 
-f 680//3391 174//3392 586//3393 
-f 907//3394 174//3395 707//3396 
-f 187//3397 832//3398 587//3399 
-s 1
-f 460//3400 187//3401 587//3402 
-s off
-f 862//3403 588//3404 763//3405 
-f 588//3406 862//3407 677//3408 
-s 1
-f 430//3409 589//3410 220//3411 
-f 254//3412 589//3413 430//3414 
-f 308//3415 516//3416 590//3417 
-f 516//3418 522//3419 590//3420 
-s off
-f 306//3421 591//3422 717//3423 
-f 853//3424 258//3425 591//3426 
-f 317//3427 632//3428 619//3429 
-f 317//3430 592//3431 948//3432 
-f 280//3433 458//3434 593//3435 
-f 477//3436 280//3437 593//3438 
-s 1
-f 581//3439 594//3440 447//3441 
-f 549//3442 447//3443 594//3444 
-f 331//3445 508//3446 595//3447 
-f 396//3448 595//3449 508//3450 
-s off
-f 596//3451 177//3452 649//3453 
-f 664//3454 788//3455 596//3456 
-s 1
-f 597//3457 772//3458 454//3459 
-f 769//3460 720//3461 597//3462 
-s off
-f 759//3463 598//3464 386//3465 
-f 386//3466 598//3467 915//3468 
-s 1
-f 443//3469 599//3470 420//3471 
-s off
-f 420//3472 599//3473 339//3474 
-s 1
-f 338//3475 600//3476 428//3477 
-f 428//3478 600//3479 294//3480 
-s off
-f 601//3481 485//3482 200//3483 
-f 834//3484 771//3485 601//3486 
-s 1
-f 215//3487 602//3488 835//3489 
-f 215//3490 341//3491 602//3492 
-s off
-f 252//3493 719//3494 890//3495 
-f 252//3496 603//3497 421//3498 
-s 1
-f 750//3499 447//3500 836//3501 
-f 254//3502 430//3503 604//3504 
-s off
-f 406//3505 605//3506 265//3507 
-f 798//3508 605//3509 859//3510 
-s 1
-f 402//3511 606//3512 403//3513 
-f 511//3514 403//3515 606//3516 
-f 192//3517 607//3518 389//3519 
-f 523//3520 389//3521 607//3522 
-f 409//3523 608//3524 410//3525 
-f 528//3526 410//3527 608//3528 
-s off
-f 823//3529 238//3530 609//3531 
-f 851//3532 908//3533 609//3534 
-f 377//3535 565//3536 610//3537 
-f 377//3538 610//3539 876//3540 
-f 611//3541 342//3542 404//3543 
-f 611//3544 855//3545 210//3546 
-f 612//3547 686//3548 288//3549 
-f 288//3550 392//3551 825//3552 
-s 1
-f 613//3553 321//3554 439//3555 
-f 439//3556 191//3557 613//3558 
-f 614//3559 845//3560 536//3561 
-s off
-f 614//3562 251//3563 233//3564 
-f 615//3565 841//3566 388//3567 
-f 615//3568 388//3569 280//3570 
-f 432//3571 324//3572 616//3573 
-f 301//3574 432//3575 616//3576 
-f 184//3577 617//3578 423//3579 
-f 617//3580 602//3581 423//3582 
-f 342//3583 618//3584 391//3585 
-f 245//3586 618//3587 789//3588 
-f 619//3589 290//3590 592//3591 
-f 317//3592 619//3593 592//3594 
-f 476//3595 620//3596 352//3597 
-f 542//3598 620//3599 476//3600 
-f 647//3601 621//3602 212//3603 
-f 406//3604 212//3605 621//3606 
-f 405//3607 622//3608 744//3609 
-f 622//3610 800//3611 318//3612 
-s 1
-f 396//3613 201//3614 623//3615 
-f 418//3616 623//3617 201//3618 
-f 624//3619 512//3620 764//3621 
-s off
-f 575//3622 512//3623 624//3624 
-f 852//3625 625//3626 296//3627 
-f 733//3628 771//3629 625//3630 
-f 626//3631 879//3632 400//3633 
-f 626//3634 680//3635 358//3636 
-s 1
-f 627//3637 506//3638 765//3639 
-s off
-f 573//3640 506//3641 627//3642 
-f 313//3643 628//3644 173//3645 
-f 313//3646 943//3647 628//3648 
-s 1
-f 950//3649 855//3650 422//3651 
-f 422//3652 463//3653 679//3654 
-f 630//3655 584//3656 478//3657 
-f 478//3658 349//3659 630//3660 
-s off
-f 792//3661 949//3662 940//3663 
-f 639//3664 631//3665 326//3666 
-f 619//3667 632//3668 193//3669 
-f 867//3670 193//3671 632//3672 
-f 633//3673 256//3674 176//3675 
-f 189//3676 633//3677 176//3678 
-f 634//3679 880//3680 635//3681 
-f 189//3682 431//3683 634//3684 
-f 635//3685 633//3686 189//3687 
-f 520//3688 257//3689 636//3690 
-f 257//3691 246//3692 636//3693 
-f 521//3694 242//3695 637//3696 
-f 237//3697 637//3698 242//3699 
-f 253//3700 563//3701 638//3702 
-f 253//3703 638//3704 716//3705 
-f 202//3706 451//3707 639//3708 
-f 202//3709 639//3710 959//3711 
-s 1
-f 640//3712 508//3713 205//3714 
-f 640//3715 205//3716 443//3717 
-s off
-f 947//3718 934//3719 207//3720 
-f 735//3721 641//3722 332//3723 
-s 1
-f 642//3724 241//3725 484//3726 
-f 536//3727 241//3728 642//3729 
-s off
-f 218//3730 567//3731 643//3732 
-f 218//3733 643//3734 542//3735 
-f 320//3736 444//3737 644//3738 
-f 827//3739 644//3740 437//3741 
-f 215//3742 645//3743 300//3744 
-f 645//3745 511//3746 300//3747 
-f 712//3748 480//3749 646//3750 
-f 715//3751 646//3752 480//3753 
-f 312//3754 647//3755 752//3756 
-f 312//3757 621//3758 647//3759 
-f 319//3760 648//3761 180//3762 
-f 660//3763 180//3764 648//3765 
-f 177//3766 295//3767 649//3768 
-f 755//3769 649//3770 295//3771 
-f 183//3772 656//3773 650//3774 
-f 183//3775 878//3776 948//3777 
-s 1
-f 213//3778 651//3779 356//3780 
-s off
-f 937//3781 356//3782 651//3783 
-f 230//3784 304//3785 926//3786 
-f 926//3787 455//3788 230//3789 
-f 297//3790 284//3791 925//3792 
-f 925//3793 456//3794 297//3795 
-f 381//3796 654//3797 258//3798 
-f 474//3799 897//3800 381//3801 
-f 383//3802 655//3803 199//3804 
-f 473//3805 896//3806 383//3807 
-f 401//3808 656//3809 744//3810 
-f 629//3811 656//3812 839//3813 
-f 628//3814 417//3815 657//3816 
-f 417//3817 372//3818 657//3819 
-s 1
-f 548//3820 658//3821 219//3822 
-f 551//3823 658//3824 548//3825 
-f 587//3826 659//3827 308//3828 
-f 368//3829 308//3830 659//3831 
-s off
-f 393//3832 660//3833 413//3834 
-s 1
-f 660//3835 465//3836 413//3837 
-s off
-f 880//3838 661//3839 256//3840 
-s 1
-f 452//3841 256//3842 661//3843 
-f 470//3844 662//3845 248//3846 
-f 248//3847 662//3848 204//3849 
-s off
-f 337//3850 444//3851 663//3852 
-f 444//3853 211//3854 663//3855 
-f 664//3856 420//3857 339//3858 
-f 664//3859 820//3860 788//3861 
-f 871//3862 665//3863 757//3864 
-f 665//3865 289//3866 483//3867 
-f 666//3868 175//3869 494//3870 
-f 877//3871 666//3872 746//3873 
-f 260//3874 667//3875 221//3876 
-f 667//3877 803//3878 221//3879 
-f 190//3880 668//3881 311//3882 
-f 668//3883 762//3884 311//3885 
-f 469//3886 956//3887 298//3888 
-f 298//3889 669//3890 464//3891 
-f 723//3892 411//3893 670//3894 
-f 754//3895 670//3896 954//3897 
-f 671//3898 249//3899 351//3900 
-f 334//3901 249//3902 671//3903 
-s 1
-f 913//3904 452//3905 672//3906 
-f 452//3907 661//3908 672//3909 
-f 768//3910 287//3911 673//3912 
-f 467//3913 673//3914 675//3915 
-f 466//3916 674//3917 676//3918 
-f 766//3919 286//3920 674//3921 
-f 673//3922 287//3923 675//3924 
-f 287//3925 550//3926 675//3927 
-f 286//3928 543//3929 676//3930 
-f 674//3931 286//3932 676//3933 
-s off
-f 327//3934 588//3935 677//3936 
-f 542//3937 327//3938 677//3939 
-f 853//3940 678//3941 919//3942 
-f 380//3943 678//3944 860//3945 
-s 1
-f 629//3946 422//3947 679//3948 
-f 679//3949 650//3950 629//3951 
-s off
-f 358//3952 680//3953 565//3954 
-f 227//3955 565//3956 680//3957 
-f 778//3958 681//3959 333//3960 
-f 217//3961 849//3962 681//3963 
-f 509//3964 682//3965 246//3966 
-f 636//3967 246//3968 682//3969 
-f 510//3970 683//3971 237//3972 
-f 683//3973 637//3974 237//3975 
-f 684//3976 515//3977 180//3978 
-f 574//3979 515//3980 684//3981 
-f 685//3982 368//3983 196//3984 
-f 196//3985 930//3986 685//3987 
-s 1
-f 374//3988 375//3989 686//3990 
-f 686//3991 488//3992 374//3993 
-s off
-f 382//3994 687//3995 854//3996 
-f 455//3997 687//3998 917//3999 
-s 1
-f 689//4000 371//4001 244//4002 
-f 811//4003 688//4004 244//4005 
-f 689//4006 244//4007 688//4008 
-f 579//4009 689//4010 688//4011 
-s off
-f 614//4012 690//4013 186//4014 
-f 809//4015 186//4016 690//4017 
-f 462//4018 691//4019 216//4020 
-f 691//4021 488//4022 868//4023 
-s 1
-f 737//4024 692//4025 197//4026 
-f 197//4027 692//4028 395//4029 
-s off
-f 693//4030 694//4031 250//4032 
-f 224//4033 884//4034 250//4035 
-f 694//4036 883//4037 279//4038 
-f 885//4039 279//4040 224//4041 
-f 424//4042 695//4043 225//4044 
-f 225//4045 695//4046 531//4047 
-f 328//4048 747//4049 696//4050 
-s 1
-f 303//4051 732//4052 696//4053 
-f 697//4054 484//4055 325//4056 
-f 697//4057 325//4058 777//4059 
-f 460//4060 698//4061 359//4062 
-f 448//4063 359//4064 698//4065 
-f 502//4066 699//4067 796//4068 
-f 502//4069 471//4070 699//4071 
-f 495//4072 700//4073 807//4074 
-f 495//4075 472//4076 700//4077 
-f 662//4078 701//4079 335//4080 
-f 923//4081 335//4082 701//4083 
-f 335//4084 702//4085 203//4086 
-f 702//4087 923//4088 203//4089 
-f 425//4090 703//4091 263//4092 
-f 801//4093 703//4094 425//4095 
-f 338//4096 704//4097 185//4098 
-f 428//4099 185//4100 704//4101 
-f 349//4102 705//4103 172//4104 
-f 172//4105 705//4106 478//4107 
-s off
-f 210//4108 855//4109 706//4110 
-f 210//4111 910//4112 318//4113 
-f 554//4114 707//4115 174//4116 
-f 305//4117 707//4118 554//4119 
-s 1
-f 623//4120 708//4121 345//4122 
-f 767//4123 345//4124 708//4125 
-f 194//4126 709//4127 425//4128 
-f 376//4129 709//4130 194//4131 
-s off
-f 182//4132 367//4133 710//4134 
-f 367//4135 569//4136 710//4137 
-s 1
-f 711//4138 396//4139 623//4140 
-f 396//4141 711//4142 595//4143 
-s off
-f 372//4144 900//4145 712//4146 
-f 657//4147 372//4148 712//4149 
-f 501//4150 713//4151 193//4152 
-f 501//4153 377//4154 713//4155 
-f 626//4156 914//4157 714//4158 
-f 264//4159 317//4160 714//4161 
-f 208//4162 646//4163 715//4164 
-f 797//4165 208//4166 715//4167 
-f 351//4168 716//4169 522//4170 
-f 716//4171 638//4172 522//4173 
-f 717//4174 934//4175 920//4176 
-f 262//4177 306//4178 717//4179 
-s 1
-f 737//4180 718//4181 395//4182 
-f 395//4183 718//4184 278//4185 
-s off
-f 719//4186 739//4187 316//4188 
-f 316//4189 941//4190 719//4191 
-s 1
-f 672//4192 720//4193 769//4194 
-f 661//4195 720//4196 672//4197 
-s off
-f 261//4198 721//4199 365//4200 
-f 468//4201 721//4202 261//4203 
-s 1
-f 214//4204 857//4205 722//4206 
-f 722//4207 913//4208 935//4209 
-s off
-f 553//4210 179//4211 723//4212 
-f 723//4213 179//4214 411//4215 
-f 724//4216 725//4217 398//4218 
-f 724//4219 398//4220 829//4221 
-f 725//4222 432//4223 301//4224 
-f 804//4225 725//4226 301//4227 
-s 1
-f 726//4228 460//4229 239//4230 
-s off
-f 239//4231 698//4232 726//4233 
-s 1
-f 727//4234 490//4235 573//4236 
-f 526//4237 490//4238 727//4239 
-f 728//4240 497//4241 574//4242 
-f 527//4243 497//4244 728//4245 
-f 729//4246 482//4247 575//4248 
-f 525//4249 482//4250 729//4251 
-s off
-f 730//4252 956//4253 469//4254 
-f 469//4255 217//4256 730//4257 
-f 731//4258 861//4259 353//4260 
-f 353//4261 564//4262 731//4263 
-s 1
-f 328//4264 732//4265 590//4266 
-s off
-f 696//4267 732//4268 328//4269 
-f 489//4270 360//4271 733//4272 
-f 601//4273 733//4274 360//4275 
-s 1
-f 734//4276 690//4277 614//4278 
-f 690//4279 734//4280 927//4281 
-s off
-f 178//4282 735//4283 958//4284 
-f 178//4285 556//4286 735//4287 
-s 1
-f 303//4288 736//4289 461//4290 
-s off
-f 489//4291 461//4292 736//4293 
-s 1
-f 737//4294 197//4295 340//4296 
-f 448//4297 737//4298 340//4299 
-s off
-f 205//4300 738//4301 409//4302 
-f 738//4303 608//4304 409//4305 
-f 739//4306 493//4307 912//4308 
-f 715//4309 493//4310 739//4311 
-f 181//4312 557//4313 740//4314 
-f 181//4315 740//4316 883//4317 
-f 741//4318 477//4319 311//4320 
-f 209//4321 477//4322 741//4323 
-f 284//4324 742//4325 949//4326 
-f 742//4327 284//4328 959//4329 
-f 304//4330 743//4331 947//4332 
-f 743//4333 304//4334 958//4335 
-f 744//4336 318//4337 401//4338 
-f 744//4339 622//4340 318//4341 
-s 1
-f 745//4342 355//4343 550//4344 
-s off
-f 745//4345 283//4346 355//4347 
-s 1
-f 746//4348 236//4349 551//4350 
-s off
-f 746//4351 666//4352 236//4353 
-f 747//4354 234//4355 366//4356 
-f 498//4357 234//4358 747//4359 
-f 330//4360 402//4361 748//4362 
-f 748//4363 523//4364 330//4365 
-s 1
-f 749//4366 648//4367 465//4368 
-f 660//4369 648//4370 749//4371 
-f 604//4372 888//4373 750//4374 
-f 604//4375 750//4376 254//4377 
-s off
-f 804//4378 406//4379 751//4380 
-f 751//4381 406//4382 942//4383 
-f 535//4384 206//4385 752//4386 
-f 751//4387 752//4388 206//4389 
-s 1
-f 753//4390 302//4391 549//4392 
-f 419//4393 302//4394 753//4395 
-s off
-f 498//4396 670//4397 754//4398 
-f 754//4399 234//4400 498//4401 
-f 184//4402 431//4403 755//4404 
-f 787//4405 755//4406 295//4407 
-f 756//4408 405//4409 290//4410 
-f 405//4411 756//4412 622//4413 
-s 1
-f 757//4414 232//4415 543//4416 
-s off
-f 757//4417 665//4418 232//4419 
-f 192//4420 222//4421 758//4422 
-f 758//4423 607//4424 192//4425 
-f 229//4426 759//4427 560//4428 
-f 560//4429 759//4430 563//4431 
-f 245//4432 760//4433 618//4434 
-f 760//4435 245//4436 226//4437 
-s 1
-f 492//4438 293//4439 761//4440 
-f 293//4441 364//4442 761//4443 
-s off
-f 817//4444 491//4445 762//4446 
-f 311//4447 762//4448 491//4449 
-f 567//4450 450//4451 763//4452 
-f 190//4453 763//4454 450//4455 
-s 1
-f 624//4456 764//4457 514//4458 
-f 764//4459 307//4460 514//4461 
-f 765//4462 394//4463 513//4464 
-f 627//4465 765//4466 513//4467 
-s off
-f 766//4468 637//4469 286//4470 
-s 1
-f 521//4471 637//4472 766//4473 
-f 418//4474 363//4475 767//4476 
-f 204//4477 767//4478 363//4479 
-f 520//4480 636//4481 768//4482 
-s off
-f 768//4483 636//4484 287//4485 
-s 1
-f 454//4486 769//4487 597//4488 
-f 454//4489 254//4490 769//4491 
-f 325//4492 770//4493 777//4494 
-s off
-f 415//4495 770//4496 782//4497 
-f 866//4498 296//4499 771//4500 
-f 625//4501 771//4502 296//4503 
-s 1
-f 561//4504 772//4505 299//4506 
-f 561//4507 220//4508 772//4509 
-f 507//4510 773//4511 354//4512 
-f 507//4513 393//4514 773//4515 
-f 773//4516 527//4517 774//4518 
-f 574//4519 774//4520 527//4521 
-f 514//4522 525//4523 775//4524 
-f 575//4525 775//4526 525//4527 
-f 573//4528 776//4529 526//4530 
-f 776//4531 513//4532 526//4533 
-s off
-f 188//4534 777//4535 415//4536 
-s 1
-f 415//4537 777//4538 770//4539 
-s off
-f 350//4540 531//4541 778//4542 
-f 778//4543 518//4544 350//4545 
-s 1
-f 779//4546 375//4547 322//4548 
-f 570//4549 779//4550 322//4551 
-f 243//4552 682//4553 780//4554 
-f 243//4555 780//4556 505//4557 
-f 240//4558 683//4559 781//4560 
-f 240//4561 781//4562 504//4563 
-f 233//4564 782//4565 241//4566 
-f 241//4567 782//4568 484//4569 
-f 551//4570 783//4571 426//4572 
-f 783//4573 877//4574 426//4575 
-f 784//4576 583//4577 427//4578 
-f 550//4579 784//4580 427//4581 
-f 543//4582 785//4583 438//4584 
-f 871//4585 438//4586 785//4587 
-s off
-f 593//4588 458//4589 786//4590 
-f 620//4591 786//4592 458//4593 
-f 184//4594 755//4595 787//4596 
-f 184//4597 787//4598 617//4599 
-f 788//4600 820//4601 177//4602 
-f 596//4603 788//4604 177//4605 
-f 789//4606 342//4607 611//4608 
-f 789//4609 618//4610 342//4611 
-f 559//4612 195//4613 790//4614 
-f 559//4615 790//4616 778//4617 
-f 468//4618 791//4619 721//4620 
-f 468//4621 893//4622 791//4623 
-s 1
-f 422//4624 792//4625 207//4626 
-f 792//4627 940//4628 207//4629 
-f 524//4630 793//4631 378//4632 
-f 946//4633 793//4634 524//4635 
-f 408//4636 794//4637 439//4638 
-f 794//4639 408//4640 194//4641 
-s off
-f 173//4642 795//4643 564//4644 
-f 173//4645 657//4646 795//4647 
-s 1
-f 414//4648 796//4649 503//4650 
-f 502//4651 796//4652 414//4653 
-s off
-f 252//4654 797//4655 715//4656 
-f 252//4657 421//4658 797//4659 
-f 798//4660 265//4661 605//4662 
-f 519//4663 265//4664 798//4665 
-f 379//4666 944//4667 799//4668 
-f 350//4669 799//4670 424//4671 
-f 800//4672 622//4673 479//4674 
-f 800//4675 479//4676 245//4677 
-s 1
-f 801//4678 425//4679 376//4680 
-f 376//4681 322//4682 801//4683 
-s off
-f 861//4684 802//4685 541//4686 
-f 387//4687 541//4688 802//4689 
-f 221//4690 803//4691 500//4692 
-f 500//4693 803//4694 805//4695 
-f 182//4696 710//4697 804//4698 
-f 804//4699 301//4700 182//4701 
-f 805//4702 906//4703 609//4704 
-f 805//4705 567//4706 373//4707 
-s 1
-f 806//4708 936//4709 300//4710 
-f 858//4711 806//4712 300//4713 
-f 369//4714 495//4715 807//4716 
-f 369//4717 807//4718 496//4719 
-s off
-f 840//4720 212//4721 808//4722 
-f 406//4723 808//4724 212//4725 
-f 315//4726 186//4727 809//4728 
-f 552//4729 315//4730 809//4731 
-s 1
-f 442//4732 810//4733 486//4734 
-f 810//4735 659//4736 486//4737 
-f 294//4738 688//4739 811//4740 
-f 428//4741 294//4742 811//4743 
-s off
-f 812//4744 875//4745 276//4746 
-f 813//4747 874//4748 273//4749 
-f 268//4750 266//4751 814//4752 
-f 271//4753 269//4754 815//4755 
-s 1
-f 282//4756 529//4757 816//4758 
-f 816//4759 509//4760 282//4761 
-s off
-f 817//4762 762//4763 211//4764 
-f 444//4765 817//4766 211//4767 
-f 818//4768 532//4769 314//4770 
-f 314//4771 175//4772 818//4773 
-f 554//4774 440//4775 819//4776 
-f 819//4777 440//4778 361//4779 
-f 339//4780 820//4781 664//4782 
-f 339//4783 443//4784 820//4785 
-f 464//4786 821//4787 195//4788 
-f 336//4789 195//4790 821//4791 
-f 530//4792 313//4793 822//4794 
-f 281//4795 530//4796 822//4797 
-f 567//4798 218//4799 823//4800 
-f 218//4801 238//4802 823//4803 
-f 222//4804 528//4805 824//4806 
-f 758//4807 222//4808 824//4809 
-f 612//4810 825//4811 231//4812 
-f 288//4813 825//4814 612//4815 
-f 386//4816 826//4817 563//4818 
-f 386//4819 915//4820 826//4821 
-f 320//4822 644//4823 827//4824 
-f 209//4825 320//4826 827//4827 
-s 1
-f 356//4828 828//4829 445//4830 
-s off
-f 828//4831 349//4832 445//4833 
-f 247//4834 829//4835 535//4836 
-f 829//4837 206//4838 535//4839 
-f 916//4840 830//4841 960//4842 
-f 336//4843 390//4844 830//4845 
-s 1
-f 412//4846 831//4847 510//4848 
-f 362//4849 831//4850 412//4851 
-f 486//4852 832//4853 364//4854 
-f 359//4855 364//4856 832//4857 
-f 520//4858 833//4859 370//4860 
-s off
-f 467//4861 370//4862 833//4863 
-f 200//4864 407//4865 834//4866 
-f 834//4867 601//4868 200//4869 
-s 1
-f 820//4870 443//4871 835//4872 
-f 205//4873 835//4874 443//4875 
-f 750//4876 836//4877 254//4878 
-f 836//4879 549//4880 254//4881 
-f 374//4882 810//4883 837//4884 
-f 374//4885 837//4886 223//4887 
-f 302//4888 838//4889 549//4890 
-f 254//4891 549//4892 838//4893 
-s off
-f 401//4894 921//4895 839//4896 
-f 401//4897 839//4898 656//4899 
-f 453//4900 840//4901 519//4902 
-f 840//4903 808//4904 519//4905 
-f 615//4906 209//4907 841//4908 
-f 209//4909 827//4910 841//4911 
-f 228//4912 842//4913 290//4914 
-f 558//4915 842//4916 228//4917 
-s 1
-f 738//4918 843//4919 824//4920 
-f 843//4921 738//4922 205//4923 
-f 345//4924 844//4925 204//4926 
-f 844//4927 767//4928 204//4929 
-f 845//4930 233//4931 536//4932 
-f 614//4933 233//4934 845//4935 
-s off
-f 846//4936 471//4937 291//4938 
-f 291//4939 580//4940 846//4941 
-f 283//4942 847//4943 457//4944 
-f 583//4945 847//4946 283//4947 
-f 848//4948 472//4949 292//4950 
-f 292//4951 578//4952 848//4953 
-f 681//4954 849//4955 333//4956 
-f 333//4957 849//4958 929//4959 
-f 850//4960 475//4961 188//4962 
-f 188//4963 582//4964 850//4965 
-f 238//4966 851//4967 609//4968 
-f 238//4969 352//4970 851//4971 
-f 229//4972 560//4973 852//4974 
-f 598//4975 229//4976 852//4977 
-f 306//4978 853//4979 591//4980 
-f 306//4981 556//4982 853//4983 
-f 854//4984 202//4985 383//4986 
-f 854//4987 451//4988 202//4989 
-f 611//4990 404//4991 855//4992 
-f 422//4993 855//4994 404//4995 
-s 1
-f 537//4996 856//4997 294//4998 
-f 856//4999 579//5000 294//5001 
-f 857//5002 459//5003 722//5004 
-f 857//5005 640//5006 459//5007 
-s off
-f 330//5008 858//5009 402//5010 
-s 1
-f 858//5011 606//5012 402//5013 
-s off
-f 288//5014 859//5015 357//5016 
-f 859//5017 605//5018 357//5019 
-f 860//5020 678//5021 556//5022 
-f 860//5023 556//5024 178//5025 
-f 861//5026 541//5027 260//5028 
-f 861//5029 260//5030 221//5031 
-f 862//5032 763//5033 190//5034 
-f 862//5035 190//5036 311//5037 
-f 555//5038 863//5039 319//5040 
-f 863//5041 648//5042 319//5043 
-s 1
-f 521//5044 864//5045 416//5046 
-s off
-f 416//5047 864//5048 466//5049 
-f 351//5050 522//5051 865//5052 
-f 671//5053 351//5054 865//5055 
-f 296//5056 866//5057 562//5058 
-f 866//5059 366//5060 562//5061 
-f 501//5062 193//5063 867//5064 
-f 632//5065 501//5066 867//5067 
-f 216//5068 691//5069 868//5070 
-f 216//5071 868//5072 945//5073 
-f 869//5074 288//5075 441//5076 
-f 869//5077 441//5078 301//5079 
-f 870//5080 475//5081 309//5082 
-f 870//5083 309//5084 539//5085 
-f 472//5086 289//5087 871//5088 
-f 871//5089 289//5090 665//5091 
-f 872//5092 952//5093 269//5094 
-f 873//5095 953//5096 266//5097 
-f 272//5098 533//5099 874//5100 
-f 275//5101 546//5102 875//5103 
-f 377//5104 876//5105 365//5106 
-f 365//5107 876//5108 261//5109 
-f 877//5110 175//5111 666//5112 
-f 818//5113 175//5114 877//5115 
-f 878//5116 650//5117 714//5118 
-f 183//5119 650//5120 878//5121 
-f 358//5122 501//5123 879//5124 
-f 358//5125 879//5126 626//5127 
-f 423//5128 544//5129 880//5130 
-f 634//5131 423//5132 880//5133 
-f 938//5134 533//5135 881//5136 
-f 939//5137 882//5138 534//5139 
-f 694//5140 585//5141 883//5142 
-f 884//5143 452//5144 693//5145 
-f 250//5146 694//5147 885//5148 
-f 886//5149 696//5150 407//5151 
-f 886//5152 407//5153 200//5154 
-s 1
-f 259//5155 447//5156 887//5157 
-f 888//5158 887//5159 447//5160 
-f 429//5161 888//5162 430//5163 
-f 429//5164 259//5165 888//5166 
-f 263//5167 889//5168 517//5169 
-f 517//5170 889//5171 375//5172 
-s off
-f 603//5173 890//5174 387//5175 
-f 252//5176 890//5177 603//5178 
-f 516//5179 255//5180 891//5181 
-f 930//5182 891//5183 255//5184 
-s 1
-f 499//5185 892//5186 321//5187 
-f 247//5188 321//5189 892//5190 
-s off
-f 610//5191 227//5192 893//5193 
-f 586//5194 893//5195 227//5196 
-f 894//5197 444//5198 320//5199 
-f 817//5200 444//5201 894//5202 
-f 895//5203 323//5204 868//5205 
-f 686//5206 323//5207 895//5208 
-f 383//5209 896//5210 655//5211 
-f 456//5212 655//5213 896//5214 
-f 455//5215 654//5216 897//5217 
-f 381//5218 897//5219 654//5220 
-f 225//5221 531//5222 898//5223 
-f 898//5224 424//5225 225//5226 
-f 899//5227 900//5228 392//5229 
-f 324//5230 899//5231 392//5232 
-f 372//5233 231//5234 900//5235 
-f 392//5236 900//5237 231//5238 
-s 1
-f 371//5239 901//5240 566//5241 
-f 824//5242 566//5243 901//5244 
-s off
-f 305//5245 449//5246 902//5247 
-f 707//5248 305//5249 902//5250 
-f 903//5251 308//5252 368//5253 
-f 903//5254 368//5255 685//5256 
-f 253//5257 904//5258 337//5259 
-f 644//5260 904//5261 253//5262 
-s 1
-f 205//5263 508//5264 905//5265 
-f 378//5266 905//5267 508//5268 
-s off
-f 373//5269 906//5270 805//5271 
-f 373//5272 823//5273 906//5274 
-f 907//5275 791//5276 586//5277 
-f 586//5278 174//5279 907//5280 
-f 462//5281 281//5282 908//5283 
-f 281//5284 609//5285 908//5286 
-s 1
-f 880//5287 544//5288 909//5289 
-f 341//5290 909//5291 544//5292 
-s off
-f 210//5293 706//5294 910//5295 
-f 706//5296 839//5297 910//5298 
-s 1
-f 689//5299 911//5300 371//5301 
-f 758//5302 371//5303 911//5304 
-s off
-f 912//5305 324//5306 432//5307 
-f 912//5308 931//5309 324//5310 
-f 913//5311 557//5312 181//5313 
-s 1
-f 913//5314 722//5315 557//5316 
-s off
-f 914//5317 264//5318 714//5319 
-f 317//5320 264//5321 914//5322 
-f 553//5323 915//5324 348//5325 
-f 915//5326 411//5327 348//5328 
-f 361//5329 916//5330 449//5331 
-f 361//5332 440//5333 916//5334 
-f 933//5335 917//5336 382//5337 
-f 382//5338 917//5339 687//5340 
-f 918//5341 310//5342 387//5343 
-f 387//5344 890//5345 918//5346 
-f 932//5347 919//5348 380//5349 
-f 380//5350 919//5351 678//5352 
-f 920//5353 262//5354 717//5355 
-f 920//5356 556//5357 262//5358 
-f 910//5359 921//5360 318//5361 
-f 401//5362 318//5363 921//5364 
-s 1
-f 517//5365 922//5366 293//5367 
-f 293//5368 922//5369 442//5370 
-f 923//5371 701//5372 470//5373 
-f 470//5374 299//5375 923//5376 
-s off
-f 652//5377 924//5378 451//5379 
-f 924//5380 639//5381 451//5382 
-f 653//5383 456//5384 925//5385 
-f 925//5386 391//5387 653//5388 
-f 926//5389 397//5390 652//5391 
-f 652//5392 455//5393 926//5394 
-s 1
-f 927//5395 536//5396 642//5397 
-f 734//5398 536//5399 927//5400 
-f 928//5401 581//5402 363//5403 
-f 419//5404 928//5405 363//5406 
-s off
-f 929//5407 464//5408 195//5409 
-f 298//5410 464//5411 929//5412 
-f 196//5413 334//5414 930//5415 
-f 334//5416 891//5417 930//5418 
-f 493//5419 931//5420 912//5421 
-f 480//5422 931//5423 493//5424 
-f 381//5425 258//5426 932//5427 
-f 380//5428 381//5429 932//5430 
-f 383//5431 199//5432 933//5433 
-f 382//5434 383//5435 933//5436 
-f 920//5437 934//5438 641//5439 
-f 934//5440 332//5441 641//5442 
-s 1
-f 722//5443 935//5444 214//5445 
-f 419//5446 214//5447 935//5448 
-f 600//5449 936//5450 537//5451 
-f 300//5452 936//5453 600//5454 
-f 630//5455 937//5456 285//5457 
-f 630//5458 828//5459 937//5460 
-s off
-f 274//5461 533//5462 938//5463 
-f 534//5464 267//5465 939//5466 
-f 397//5467 940//5468 631//5469 
-f 940//5470 326//5471 631//5472 
-f 499//5473 384//5474 941//5475 
-f 719//5476 941//5477 384//5478 
-f 942//5479 621//5480 312//5481 
-f 752//5482 942//5483 312//5484 
-f 628//5485 943//5486 417//5487 
-f 417//5488 943//5489 281//5490 
-f 695//5491 424//5492 944//5493 
-f 944//5494 424//5495 799//5496 
-f 417//5497 945//5498 372//5499 
-f 945//5500 323//5501 372//5502 
-s 1
-f 566//5503 946//5504 244//5505 
-f 946//5506 524//5507 244//5508 
-s off
-f 947//5509 743//5510 332//5511 
-f 947//5512 332//5513 934//5514 
-f 948//5515 558//5516 183//5517 
-f 842//5518 558//5519 948//5520 
-f 949//5521 326//5522 940//5523 
-f 949//5524 742//5525 326//5526 
-s 1
-f 950//5527 629//5528 839//5529 
-f 629//5530 950//5531 422//5532 
-s off
-f 951//5533 588//5534 327//5535 
-f 542//5536 951//5537 327//5538 
-f 344//5539 346//5540 952//5541 
-f 344//5542 952//5543 872//5544 
-f 343//5545 347//5546 953//5547 
-f 343//5548 953//5549 873//5550 
-f 954//5551 411//5552 915//5553 
-f 411//5554 954//5555 670//5556 
-s 1
-f 720//5557 299//5558 955//5559 
-f 772//5560 955//5561 299//5562 
-s off
-f 298//5563 956//5564 669//5565 
-f 956//5566 960//5567 669//5568 
-f 476//5569 957//5570 542//5571 
-f 352//5572 957//5573 476//5574 
-f 178//5575 958//5576 474//5577 
-f 474//5578 958//5579 230//5580 
-f 473//5581 959//5582 297//5583 
-f 202//5584 959//5585 473//5586 
-f 830//5587 390//5588 960//5589 
-f 669//5590 960//5591 390//5592 
+f 259//3361 581//3362 447//3363
+f 204//3364 581//3365 259//3366
+s off
+f 539//3367 850//3368 582//3369
+f 582//3370 188//3371 483//3372
+f 583//3373 471//3374 847//3375
+f 583//3376 283//3377 745//3378
+s 1
+f 630//3379 285//3380 584//3381
+f 172//3382 478//3383 584//3384
+s off
+f 913//3385 181//3386 585//3387
+f 883//3388 740//3389 279//3390
+f 680//3391 174//3392 586//3393
+f 907//3394 174//3395 707//3396
+f 187//3397 832//3398 587//3399
+s 1
+f 460//3400 187//3401 587//3402
+s off
+f 862//3403 588//3404 763//3405
+f 588//3406 862//3407 677//3408
+s 1
+f 430//3409 589//3410 220//3411
+f 254//3412 589//3413 430//3414
+f 308//3415 516//3416 590//3417
+f 516//3418 522//3419 590//3420
+s off
+f 306//3421 591//3422 717//3423
+f 853//3424 258//3425 591//3426
+f 317//3427 632//3428 619//3429
+f 317//3430 592//3431 948//3432
+f 280//3433 458//3434 593//3435
+f 477//3436 280//3437 593//3438
+s 1
+f 581//3439 594//3440 447//3441
+f 549//3442 447//3443 594//3444
+f 331//3445 508//3446 595//3447
+f 396//3448 595//3449 508//3450
+s off
+f 596//3451 177//3452 649//3453
+f 664//3454 788//3455 596//3456
+s 1
+f 597//3457 772//3458 454//3459
+f 769//3460 720//3461 597//3462
+s off
+f 759//3463 598//3464 386//3465
+f 386//3466 598//3467 915//3468
+s 1
+f 443//3469 599//3470 420//3471
+s off
+f 420//3472 599//3473 339//3474
+s 1
+f 338//3475 600//3476 428//3477
+f 428//3478 600//3479 294//3480
+s off
+f 601//3481 485//3482 200//3483
+f 834//3484 771//3485 601//3486
+s 1
+f 215//3487 602//3488 835//3489
+f 215//3490 341//3491 602//3492
+s off
+f 252//3493 719//3494 890//3495
+f 252//3496 603//3497 421//3498
+s 1
+f 750//3499 447//3500 836//3501
+f 254//3502 430//3503 604//3504
+s off
+f 406//3505 605//3506 265//3507
+f 798//3508 605//3509 859//3510
+s 1
+f 402//3511 606//3512 403//3513
+f 511//3514 403//3515 606//3516
+f 192//3517 607//3518 389//3519
+f 523//3520 389//3521 607//3522
+f 409//3523 608//3524 410//3525
+f 528//3526 410//3527 608//3528
+s off
+f 823//3529 238//3530 609//3531
+f 851//3532 908//3533 609//3534
+f 377//3535 565//3536 610//3537
+f 377//3538 610//3539 876//3540
+f 611//3541 342//3542 404//3543
+f 611//3544 855//3545 210//3546
+f 612//3547 686//3548 288//3549
+f 288//3550 392//3551 825//3552
+s 1
+f 613//3553 321//3554 439//3555
+f 439//3556 191//3557 613//3558
+f 614//3559 845//3560 536//3561
+s off
+f 614//3562 251//3563 233//3564
+f 615//3565 841//3566 388//3567
+f 615//3568 388//3569 280//3570
+f 432//3571 324//3572 616//3573
+f 301//3574 432//3575 616//3576
+f 184//3577 617//3578 423//3579
+f 617//3580 602//3581 423//3582
+f 342//3583 618//3584 391//3585
+f 245//3586 618//3587 789//3588
+f 619//3589 290//3590 592//3591
+f 317//3592 619//3593 592//3594
+f 476//3595 620//3596 352//3597
+f 542//3598 620//3599 476//3600
+f 647//3601 621//3602 212//3603
+f 406//3604 212//3605 621//3606
+f 405//3607 622//3608 744//3609
+f 622//3610 800//3611 318//3612
+s 1
+f 396//3613 201//3614 623//3615
+f 418//3616 623//3617 201//3618
+f 624//3619 512//3620 764//3621
+s off
+f 575//3622 512//3623 624//3624
+f 852//3625 625//3626 296//3627
+f 733//3628 771//3629 625//3630
+f 626//3631 879//3632 400//3633
+f 626//3634 680//3635 358//3636
+s 1
+f 627//3637 506//3638 765//3639
+s off
+f 573//3640 506//3641 627//3642
+f 313//3643 628//3644 173//3645
+f 313//3646 943//3647 628//3648
+s 1
+f 950//3649 855//3650 422//3651
+f 422//3652 463//3653 679//3654
+f 630//3655 584//3656 478//3657
+f 478//3658 349//3659 630//3660
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 # 0 polygons - 1526 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftElbowPitchLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftElbowPitchLink.obj
index c0478b1..0f591ee 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftElbowPitchLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftElbowPitchLink.obj
@@ -3427,982 +3427,982 @@ o N17_25_P11_01_Elbow_To_Forearm
 g N17_25_P11_01_Elbow_To_Forearm
 usemtl Material__29
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 # 0 polygons - 976 triangles
 
 #
@@ -9824,1530 +9824,1530 @@ o N17_24_P01_01_L_Elbow_Bend_Structure
 g N17_24_P01_01_L_Elbow_Bend_Structure
 usemtl Material__29
 s 1
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 # 0 polygons - 1524 triangles
 
 #
@@ -14511,874 +14511,874 @@ o N17_24_P01_03_L_Forearm_wire_inlet
 g N17_24_P01_03_L_Forearm_wire_inlet
 usemtl Material__30
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+f 2229//12496 2249//12497 2212//12498
+f 2249//12499 2213//12500 2212//12501
 # 0 polygons - 799 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftGripperYawLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftGripperYawLink.obj
index 0d74984..a04eb06 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftGripperYawLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftGripperYawLink.obj
@@ -888,875 +888,874 @@ o N17_24_P03_01_Barret_clamp_ring
 g N17_24_P03_01_Barret_clamp_ring
 usemtl Material__183
 s off
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-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderPitchLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderPitchLink.obj
index 007ac1d..03de2b1 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderPitchLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderPitchLink.obj
@@ -1282,368 +1282,368 @@ o Body1
 g Body1
 usemtl Opaque_165_165_165_
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 # 0 polygons - 362 triangles
 
 #
@@ -2236,164 +2236,164 @@ o Body1_1
 g Body1_1
 usemtl Opaque_165_165_165_
 s 1
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+f 193//1338 194//1337 246//1336
+f 245//1341 193//1340 246//1339
+f 192//1344 193//1343 245//1342
+f 244//1347 192//1346 245//1345
+f 191//1350 192//1349 244//1348
+f 243//1353 191//1352 244//1351
+f 190//1356 191//1355 243//1354
+f 242//1359 190//1358 243//1357
+f 189//1362 190//1361 242//1360
+f 241//1365 189//1364 242//1363
+f 188//1368 189//1367 241//1366
+f 240//1371 188//1370 241//1369
+f 187//1374 188//1373 240//1372
+f 239//1377 187//1376 240//1375
+f 186//1380 187//1379 239//1378
+f 238//1383 186//1382 239//1381
+f 185//1386 186//1385 238//1384
+f 237//1389 185//1388 238//1387
+f 184//1392 185//1391 237//1390
+f 236//1395 184//1394 237//1393
+f 183//1398 184//1397 236//1396
+f 235//1401 183//1400 236//1399
+f 182//1404 183//1403 235//1402
+f 261//1407 241//1406 262//1405
+f 240//1410 241//1409 261//1408
+f 285//1413 240//1412 261//1411
+f 239//1416 240//1415 285//1414
+f 284//1419 239//1418 285//1417
+f 238//1422 239//1421 284//1420
+f 283//1425 238//1424 284//1423
+f 237//1428 238//1427 283//1426
+f 282//1431 237//1430 283//1429
+f 236//1434 237//1433 282//1432
+f 281//1437 236//1436 282//1435
+f 235//1440 236//1439 281//1438
+f 280//1443 235//1442 281//1441
+f 234//1446 235//1445 280//1444
+f 279//1449 234//1448 280//1447
+f 260//1452 234//1451 279//1450
+f 278//1455 260//1454 279//1453
+f 259//1458 260//1457 278//1456
+f 277//1461 259//1460 278//1459
+f 258//1464 259//1463 277//1462
+f 257//1467 258//1466 277//1465
+f 242//1470 262//1469 241//1468
+f 263//1473 262//1472 242//1471
+f 243//1476 263//1475 242//1474
+f 264//1479 263//1478 243//1477
+f 244//1482 264//1481 243//1480
+f 245//1485 264//1484 244//1483
+f 265//1488 264//1487 245//1486
+f 246//1491 265//1490 245//1489
+f 266//1494 265//1493 246//1492
+f 247//1497 266//1496 246//1495
+f 267//1500 266//1499 247//1498
+f 248//1503 267//1502 247//1501
+f 268//1506 267//1505 248//1504
+f 249//1509 268//1508 248//1507
+f 269//1512 268//1511 249//1510
+f 250//1515 269//1514 249//1513
+f 270//1518 269//1517 250//1516
+f 251//1521 270//1520 250//1519
+f 271//1524 270//1523 251//1522
+f 252//1527 271//1526 251//1525
+f 272//1530 271//1529 252//1528
+f 253//1533 272//1532 252//1531
+f 273//1536 272//1535 253//1534
+f 254//1539 273//1538 253//1537
+f 274//1542 273//1541 254//1540
+f 255//1545 274//1544 254//1543
+f 275//1548 274//1547 255//1546
+f 256//1551 275//1550 255//1549
+f 276//1554 275//1553 256//1552
+f 257//1557 276//1556 256//1555
+f 277//1560 276//1559 257//1558
 # 0 polygons - 158 triangles
 
 #
@@ -2751,100 +2751,100 @@ o Body1_2
 g Body1_2
 usemtl Opaque_67_72_77_
 s 1
-f 286//1563 315//1562 287//1561 
-f 314//1566 315//1565 286//1564 
-f 322//1569 314//1568 286//1567 
-f 323//1572 314//1571 322//1570 
-f 333//1575 323//1574 322//1573 
-f 332//1578 323//1577 333//1576 
-f 338//1581 332//1580 333//1579 
-f 331//1584 332//1583 338//1582 
-f 337//1587 331//1586 338//1585 
-f 330//1590 331//1589 337//1588 
-f 336//1593 330//1592 337//1591 
-f 329//1596 330//1595 336//1594 
-f 335//1599 329//1598 336//1597 
-f 328//1602 329//1601 335//1600 
-f 334//1605 328//1604 335//1603 
-f 296//1608 328//1607 334//1606 
-f 297//1611 296//1610 334//1609 
-f 287//1614 321//1613 288//1612 
-f 317//1617 321//1616 287//1615 
-f 316//1620 317//1619 287//1618 
-f 313//1623 317//1622 316//1621 
-f 314//1626 313//1625 316//1624 
-f 323//1629 313//1628 314//1627 
-f 321//1632 289//1631 288//1630 
-f 320//1635 289//1634 321//1633 
-f 317//1638 320//1637 321//1636 
-f 318//1641 320//1640 317//1639 
-f 312//1644 318//1643 317//1642 
-f 311//1647 318//1646 312//1645 
-f 325//1650 311//1649 312//1648 
-f 326//1653 311//1652 325//1651 
-f 330//1656 326//1655 325//1654 
-f 329//1659 326//1658 330//1657 
-f 289//1662 291//1661 290//1660 
-f 309//1665 291//1664 289//1663 
-f 320//1668 309//1667 289//1666 
-f 318//1671 309//1670 320//1669 
-f 309//1674 292//1673 291//1672 
-f 293//1677 292//1676 309//1675 
-f 319//1680 293//1679 309//1678 
-f 310//1683 293//1682 319//1681 
-f 311//1686 310//1685 319//1684 
-f 326//1689 310//1688 311//1687 
-f 310//1692 294//1691 293//1690 
-f 327//1695 294//1694 310//1693 
-f 326//1698 327//1697 310//1696 
-f 329//1701 327//1700 326//1699 
-f 328//1704 294//1703 327//1702 
-f 295//1707 294//1706 328//1705 
-f 296//1710 295//1709 328//1708 
-f 334//1713 298//1712 297//1711 
-f 335//1716 298//1715 334//1714 
-f 335//1719 299//1718 298//1717 
-f 336//1722 299//1721 335//1720 
-f 336//1725 300//1724 299//1723 
-f 337//1728 300//1727 336//1726 
-f 303//1731 300//1730 337//1729 
-f 301//1734 300//1733 303//1732 
-f 302//1737 301//1736 303//1735 
-f 337//1740 304//1739 303//1738 
-f 338//1743 304//1742 337//1741 
-f 338//1746 305//1745 304//1744 
-f 333//1749 305//1748 338//1747 
-f 333//1752 306//1751 305//1750 
-f 322//1755 306//1754 333//1753 
-f 322//1758 307//1757 306//1756 
-f 308//1761 307//1760 322//1759 
-f 286//1764 308//1763 322//1762 
-f 319//1767 309//1766 318//1765 
-f 311//1770 319//1769 318//1768 
-f 313//1773 312//1772 317//1771 
-f 324//1776 312//1775 313//1774 
-f 323//1779 324//1778 313//1777 
-f 332//1782 324//1781 323//1780 
-f 325//1785 312//1784 324//1783 
-f 316//1788 315//1787 314//1786 
-f 339//1791 315//1790 316//1789 
-f 287//1794 339//1793 316//1792 
-f 315//1797 339//1796 287//1795 
-f 324//1800 332//1799 331//1798 
-f 325//1803 331//1802 330//1801 
-f 324//1806 331//1805 325//1804 
-f 327//1809 329//1808 328//1807 
-f 286//1812 340//1811 308//1810 
-f 341//1815 340//1814 286//1813 
-f 342//1818 341//1817 286//1816 
-f 287//1821 342//1820 286//1819 
-f 343//1824 342//1823 287//1822 
-f 288//1827 343//1826 287//1825 
-f 344//1830 343//1829 288//1828 
-f 289//1833 344//1832 288//1831 
-f 345//1836 344//1835 289//1834 
-f 346//1839 345//1838 289//1837 
-f 289//1842 290//1841 346//1840 
+f 286//1563 315//1562 287//1561
+f 314//1566 315//1565 286//1564
+f 322//1569 314//1568 286//1567
+f 323//1572 314//1571 322//1570
+f 333//1575 323//1574 322//1573
+f 332//1578 323//1577 333//1576
+f 338//1581 332//1580 333//1579
+f 331//1584 332//1583 338//1582
+f 337//1587 331//1586 338//1585
+f 330//1590 331//1589 337//1588
+f 336//1593 330//1592 337//1591
+f 329//1596 330//1595 336//1594
+f 335//1599 329//1598 336//1597
+f 328//1602 329//1601 335//1600
+f 334//1605 328//1604 335//1603
+f 296//1608 328//1607 334//1606
+f 297//1611 296//1610 334//1609
+f 287//1614 321//1613 288//1612
+f 317//1617 321//1616 287//1615
+f 316//1620 317//1619 287//1618
+f 313//1623 317//1622 316//1621
+f 314//1626 313//1625 316//1624
+f 323//1629 313//1628 314//1627
+f 321//1632 289//1631 288//1630
+f 320//1635 289//1634 321//1633
+f 317//1638 320//1637 321//1636
+f 318//1641 320//1640 317//1639
+f 312//1644 318//1643 317//1642
+f 311//1647 318//1646 312//1645
+f 325//1650 311//1649 312//1648
+f 326//1653 311//1652 325//1651
+f 330//1656 326//1655 325//1654
+f 329//1659 326//1658 330//1657
+f 289//1662 291//1661 290//1660
+f 309//1665 291//1664 289//1663
+f 320//1668 309//1667 289//1666
+f 318//1671 309//1670 320//1669
+f 309//1674 292//1673 291//1672
+f 293//1677 292//1676 309//1675
+f 319//1680 293//1679 309//1678
+f 310//1683 293//1682 319//1681
+f 311//1686 310//1685 319//1684
+f 326//1689 310//1688 311//1687
+f 310//1692 294//1691 293//1690
+f 327//1695 294//1694 310//1693
+f 326//1698 327//1697 310//1696
+f 329//1701 327//1700 326//1699
+f 328//1704 294//1703 327//1702
+f 295//1707 294//1706 328//1705
+f 296//1710 295//1709 328//1708
+f 334//1713 298//1712 297//1711
+f 335//1716 298//1715 334//1714
+f 335//1719 299//1718 298//1717
+f 336//1722 299//1721 335//1720
+f 336//1725 300//1724 299//1723
+f 337//1728 300//1727 336//1726
+f 303//1731 300//1730 337//1729
+f 301//1734 300//1733 303//1732
+f 302//1737 301//1736 303//1735
+f 337//1740 304//1739 303//1738
+f 338//1743 304//1742 337//1741
+f 338//1746 305//1745 304//1744
+f 333//1749 305//1748 338//1747
+f 333//1752 306//1751 305//1750
+f 322//1755 306//1754 333//1753
+f 322//1758 307//1757 306//1756
+f 308//1761 307//1760 322//1759
+f 286//1764 308//1763 322//1762
+f 319//1767 309//1766 318//1765
+f 311//1770 319//1769 318//1768
+f 313//1773 312//1772 317//1771
+f 324//1776 312//1775 313//1774
+f 323//1779 324//1778 313//1777
+f 332//1782 324//1781 323//1780
+f 325//1785 312//1784 324//1783
+f 316//1788 315//1787 314//1786
+f 339//1791 315//1790 316//1789
+f 287//1794 339//1793 316//1792
+f 315//1797 339//1796 287//1795
+f 324//1800 332//1799 331//1798
+f 325//1803 331//1802 330//1801
+f 324//1806 331//1805 325//1804
+f 327//1809 329//1808 328//1807
+f 286//1812 340//1811 308//1810
+f 341//1815 340//1814 286//1813
+f 342//1818 341//1817 286//1816
+f 287//1821 342//1820 286//1819
+f 343//1824 342//1823 287//1822
+f 288//1827 343//1826 287//1825
+f 344//1830 343//1829 288//1828
+f 289//1833 344//1832 288//1831
+f 345//1836 344//1835 289//1834
+f 346//1839 345//1838 289//1837
+f 289//1842 290//1841 346//1840
 # 0 polygons - 94 triangles
 
 #
@@ -4061,344 +4061,344 @@ o Body1_3
 g Body1_3
 usemtl Opaque_67_72_77_
 s 1
-f 354//1845 348//1844 347//1843 
-f 349//1848 348//1847 354//1846 
-f 353//1851 349//1850 354//1849 
-f 350//1854 349//1853 353//1852 
-f 352//1857 350//1856 353//1855 
-f 351//1860 350//1859 352//1858 
-f 361//1863 355//1862 362//1861 
-f 356//1866 355//1865 361//1864 
-f 360//1869 356//1868 361//1867 
-f 357//1872 356//1871 360//1870 
-f 359//1875 357//1874 360//1873 
-f 358//1878 357//1877 359//1876 
-f 370//1881 364//1880 363//1879 
-f 369//1884 364//1883 370//1882 
-f 367//1887 364//1886 369//1885 
-f 368//1890 367//1889 369//1888 
-f 367//1893 365//1892 364//1891 
-f 366//1896 365//1895 367//1894 
-f 353//1899 365//1898 366//1897 
-f 352//1902 353//1901 366//1900 
-f 365//1905 354//1904 347//1903 
-f 353//1908 354//1907 365//1906 
-f 385//1911 371//1910 384//1909 
-f 372//1914 371//1913 385//1912 
-f 373//1917 372//1916 385//1915 
-f 385//1920 374//1919 373//1918 
-f 375//1923 374//1922 385//1921 
-f 376//1926 375//1925 385//1924 
-f 376//1929 365//1928 347//1927 
-f 385//1932 365//1931 376//1930 
-f 385//1935 364//1934 365//1933 
-f 386//1938 364//1937 385//1936 
-f 384//1941 386//1940 385//1939 
-f 383//1944 386//1943 384//1942 
-f 387//1947 386//1946 383//1945 
-f 381//1950 387//1949 383//1948 
-f 380//1953 387//1952 381//1951 
-f 379//1956 387//1955 380//1954 
-f 378//1959 387//1958 379//1957 
-f 386//1962 387//1961 378//1960 
-f 364//1965 386//1964 378//1963 
-f 364//1968 377//1967 363//1966 
-f 378//1971 377//1970 364//1969 
-f 383//1974 382//1973 381//1972 
-f 407//1977 388//1976 404//1975 
-f 389//1980 388//1979 407//1978 
-f 406//1983 389//1982 407//1981 
-f 390//1986 389//1985 406//1984 
-f 405//1989 390//1988 406//1987 
-f 359//1992 390//1991 405//1990 
-f 391//1995 359//1994 405//1993 
-f 405//1998 392//1997 391//1996 
-f 393//2001 392//2000 405//1999 
-f 394//2004 393//2003 405//2002 
-f 397//2007 394//2006 405//2005 
-f 395//2010 394//2009 397//2008 
-f 396//2013 395//2012 397//2011 
-f 406//2016 397//2015 405//2014 
-f 398//2019 397//2018 406//2017 
-f 407//2022 398//2021 406//2020 
-f 401//2025 398//2024 407//2023 
-f 402//2028 401//2027 407//2026 
-f 398//2031 400//2030 399//2029 
-f 401//2034 400//2033 398//2032 
-f 407//2037 403//2036 402//2035 
-f 404//2040 403//2039 407//2038 
-f 412//2043 361//2042 362//2041 
-f 360//2046 361//2045 412//2044 
-f 390//2049 360//2048 412//2047 
-f 359//2052 360//2051 390//2050 
-f 412//2055 389//2054 390//2053 
-f 411//2058 389//2057 412//2056 
-f 408//2061 389//2060 411//2059 
-f 409//2064 408//2063 411//2062 
-f 408//2067 388//2066 389//2065 
-f 411//2070 410//2069 409//2068 
-f 420//2073 350//2072 351//2071 
-f 413//2076 350//2075 420//2074 
-f 414//2079 413//2078 420//2077 
-f 413//2082 349//2081 350//2080 
-f 348//2085 349//2084 413//2083 
-f 414//2088 416//2087 415//2086 
-f 417//2091 416//2090 414//2089 
-f 419//2094 417//2093 414//2092 
-f 418//2097 417//2096 419//2095 
-f 414//2100 420//2099 419//2098 
-f 434//2103 414//2102 415//2101 
-f 437//2106 414//2105 434//2104 
-f 433//2109 437//2108 434//2107 
-f 432//2112 437//2111 433//2110 
-f 431//2115 437//2114 432//2113 
-f 430//2118 437//2117 431//2116 
-f 429//2121 437//2120 430//2119 
-f 428//2124 437//2123 429//2122 
-f 436//2127 437//2126 428//2125 
-f 427//2130 436//2129 428//2128 
-f 435//2133 436//2132 427//2131 
-f 425//2136 435//2135 427//2134 
-f 424//2139 435//2138 425//2137 
-f 423//2142 435//2141 424//2140 
-f 422//2145 435//2144 423//2143 
-f 436//2148 435//2147 422//2146 
-f 413//2151 436//2150 422//2149 
-f 437//2154 436//2153 413//2152 
-f 414//2157 437//2156 413//2155 
-f 413//2160 421//2159 348//2158 
-f 422//2163 421//2162 413//2161 
-f 427//2166 426//2165 425//2164 
-f 454//2169 439//2168 438//2167 
-f 440//2172 439//2171 454//2170 
-f 455//2175 440//2174 454//2173 
-f 441//2178 440//2177 455//2176 
-f 442//2181 441//2180 455//2179 
-f 455//2184 443//2183 442//2182 
-f 358//2187 443//2186 455//2185 
-f 444//2190 358//2189 455//2188 
-f 456//2193 444//2192 455//2191 
-f 445//2196 444//2195 456//2194 
-f 457//2199 445//2198 456//2197 
-f 446//2202 445//2201 457//2200 
-f 447//2205 446//2204 457//2203 
-f 457//2208 448//2207 447//2206 
-f 449//2211 448//2210 457//2209 
-f 450//2214 449//2213 457//2212 
-f 453//2217 450//2216 457//2215 
-f 451//2220 450//2219 453//2218 
-f 452//2223 451//2222 453//2221 
-f 456//2226 453//2225 457//2224 
-f 454//2229 453//2228 456//2227 
-f 455//2232 454//2231 456//2230 
-f 462//2235 445//2234 446//2233 
-f 459//2238 445//2237 462//2236 
-f 461//2241 459//2240 462//2239 
-f 460//2244 459//2243 461//2242 
-f 459//2247 444//2246 445//2245 
-f 458//2250 444//2249 459//2248 
-f 357//2253 444//2252 458//2251 
-f 356//2256 357//2255 458//2254 
-f 357//2259 358//2258 444//2257 
-f 458//2262 355//2261 356//2260 
-f 464//2265 351//2264 352//2263 
-f 463//2268 351//2267 464//2266 
-f 372//2271 426//2270 371//2269 
-f 425//2274 426//2273 372//2272 
-f 424//2277 425//2276 372//2275 
-f 373//2280 424//2279 372//2278 
-f 423//2283 424//2282 373//2281 
-f 374//2286 423//2285 373//2284 
-f 422//2289 423//2288 374//2287 
-f 375//2292 422//2291 374//2290 
-f 421//2295 422//2294 375//2293 
-f 376//2298 421//2297 375//2296 
-f 347//2301 421//2300 376//2299 
-f 348//2304 421//2303 347//2302 
-f 472//2307 438//2306 396//2305 
-f 465//2310 438//2309 472//2308 
-f 471//2313 465//2312 472//2311 
-f 466//2316 465//2315 471//2314 
-f 470//2319 466//2318 471//2317 
-f 467//2322 466//2321 470//2320 
-f 469//2325 467//2324 470//2323 
-f 468//2328 467//2327 469//2326 
-f 371//2331 468//2330 469//2329 
-f 426//2334 468//2333 371//2332 
-f 446//2337 460//2336 462//2335 
-f 483//2340 460//2339 446//2338 
-f 447//2343 483//2342 446//2341 
-f 484//2346 483//2345 447//2344 
-f 448//2349 484//2348 447//2347 
-f 449//2352 484//2351 448//2350 
-f 485//2355 484//2354 449//2353 
-f 450//2358 485//2357 449//2356 
-f 451//2361 485//2360 450//2359 
-f 486//2364 485//2363 451//2362 
-f 452//2367 486//2366 451//2365 
-f 478//2370 486//2369 452//2368 
-f 487//2373 486//2372 478//2371 
-f 477//2376 487//2375 478//2374 
-f 488//2379 487//2378 477//2377 
-f 476//2382 488//2381 477//2380 
-f 489//2385 488//2384 476//2383 
-f 475//2388 489//2387 476//2386 
-f 490//2391 489//2390 475//2389 
-f 429//2394 490//2393 475//2392 
-f 430//2397 490//2396 429//2395 
-f 479//2400 490//2399 430//2398 
-f 431//2403 479//2402 430//2401 
-f 432//2406 479//2405 431//2404 
-f 480//2409 479//2408 432//2407 
-f 433//2412 480//2411 432//2410 
-f 434//2415 480//2414 433//2413 
-f 481//2418 480//2417 434//2416 
-f 415//2421 481//2420 434//2419 
-f 418//2424 481//2423 415//2422 
-f 416//2427 418//2426 415//2425 
-f 417//2430 418//2429 416//2428 
-f 460//2433 461//2432 462//2431 
-f 482//2436 460//2435 483//2434 
-f 473//2439 460//2438 482//2437 
-f 474//2442 473//2441 482//2440 
-f 482//2445 418//2444 474//2443 
-f 481//2448 418//2447 482//2446 
-f 362//2451 492//2450 491//2449 
-f 355//2454 492//2453 362//2452 
-f 359//2457 443//2456 358//2455 
-f 391//2460 443//2459 359//2458 
-f 392//2463 443//2462 391//2461 
-f 442//2466 443//2465 392//2464 
-f 393//2469 442//2468 392//2467 
-f 441//2472 442//2471 393//2470 
-f 394//2475 441//2474 393//2473 
-f 440//2478 441//2477 394//2476 
-f 395//2481 440//2480 394//2479 
-f 439//2484 440//2483 395//2482 
-f 438//2487 439//2486 395//2485 
-f 395//2490 396//2489 438//2488 
-f 508//2493 493//2492 368//2491 
-f 494//2496 493//2495 508//2494 
-f 410//2499 494//2498 508//2497 
-f 410//2502 408//2501 409//2500 
-f 388//2505 408//2504 410//2503 
-f 507//2508 388//2507 410//2506 
-f 404//2511 388//2510 507//2509 
-f 506//2514 404//2513 507//2512 
-f 403//2517 404//2516 506//2515 
-f 402//2520 403//2519 506//2518 
-f 505//2523 402//2522 506//2521 
-f 401//2526 402//2525 505//2524 
-f 400//2529 401//2528 505//2527 
-f 504//2532 400//2531 505//2530 
-f 399//2535 400//2534 504//2533 
-f 495//2538 399//2537 504//2536 
-f 503//2541 495//2540 504//2539 
-f 496//2544 495//2543 503//2542 
-f 502//2547 496//2546 503//2545 
-f 497//2550 496//2549 502//2548 
-f 501//2553 497//2552 502//2551 
-f 498//2556 497//2555 501//2554 
-f 500//2559 498//2558 501//2557 
-f 382//2562 498//2561 500//2560 
-f 381//2565 382//2564 500//2563 
-f 499//2568 381//2567 500//2566 
-f 380//2571 381//2570 499//2569 
-f 379//2574 380//2573 499//2572 
-f 510//2577 379//2576 499//2575 
-f 378//2580 379//2579 510//2578 
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-f 514//2667 383//2666 384//2665 
-f 513//2670 383//2669 514//2668 
-f 516//2673 513//2672 514//2671 
-f 515//2676 513//2675 516//2674 
-f 518//2679 515//2678 516//2677 
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-f 520//2685 517//2684 518//2683 
-f 519//2688 517//2687 520//2686 
-f 513//2691 382//2690 383//2689 
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-f 495//2712 496//2711 519//2710 
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-f 521//2718 494//2717 411//2716 
-f 412//2721 521//2720 411//2719 
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-f 362//2727 522//2726 412//2725 
-f 491//2730 522//2729 362//2728 
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-f 523//2736 474//2735 419//2734 
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-f 526//2754 428//2753 475//2752 
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-f 477//2763 528//2762 476//2761 
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-f 452//2775 532//2774 478//2773 
-f 453//2778 532//2777 452//2776 
-f 531//2781 532//2780 453//2779 
-f 454//2784 531//2783 453//2782 
-f 465//2787 531//2786 454//2785 
-f 438//2790 465//2789 454//2788 
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-f 525//2796 427//2795 526//2794 
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-f 530//2805 527//2804 528//2803 
-f 529//2808 527//2807 530//2806 
-f 532//2811 529//2810 530//2809 
-f 531//2814 529//2813 532//2812 
-f 525//2817 426//2816 427//2815 
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-f 527//2823 468//2822 525//2821 
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-f 465//2838 466//2837 531//2836 
-f 458//2841 492//2840 355//2839 
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-f 460//2853 534//2852 459//2851 
-f 473//2856 534//2855 460//2854 
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+f 372//1914 371//1913 385//1912
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+f 376//1926 375//1925 385//1924
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+f 385//1935 364//1934 365//1933
+f 386//1938 364//1937 385//1936
+f 384//1941 386//1940 385//1939
+f 383//1944 386//1943 384//1942
+f 387//1947 386//1946 383//1945
+f 381//1950 387//1949 383//1948
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+f 379//1956 387//1955 380//1954
+f 378//1959 387//1958 379//1957
+f 386//1962 387//1961 378//1960
+f 364//1965 386//1964 378//1963
+f 364//1968 377//1967 363//1966
+f 378//1971 377//1970 364//1969
+f 383//1974 382//1973 381//1972
+f 407//1977 388//1976 404//1975
+f 389//1980 388//1979 407//1978
+f 406//1983 389//1982 407//1981
+f 390//1986 389//1985 406//1984
+f 405//1989 390//1988 406//1987
+f 359//1992 390//1991 405//1990
+f 391//1995 359//1994 405//1993
+f 405//1998 392//1997 391//1996
+f 393//2001 392//2000 405//1999
+f 394//2004 393//2003 405//2002
+f 397//2007 394//2006 405//2005
+f 395//2010 394//2009 397//2008
+f 396//2013 395//2012 397//2011
+f 406//2016 397//2015 405//2014
+f 398//2019 397//2018 406//2017
+f 407//2022 398//2021 406//2020
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+f 429//2121 437//2120 430//2119
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+f 436//2127 437//2126 428//2125
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+f 425//2136 435//2135 427//2134
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+f 423//2142 435//2141 424//2140
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+f 436//2148 435//2147 422//2146
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+f 527//2802 525//2801 528//2800
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+f 534//2850 533//2849 459//2848
+f 460//2853 534//2852 459//2851
+f 473//2856 534//2855 460//2854
 # 0 polygons - 338 triangles
 
 #
@@ -9625,1479 +9625,1479 @@ o Body10
 g Body10
 usemtl Opaque_165_165_165_
 s 1
-f 535//2859 612//2858 536//2857 
-f 613//2862 612//2861 535//2860 
-f 614//2865 613//2864 535//2863 
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-f 677//2898 663//2897 662//2896 
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-f 693//2907 694//2906 678//2905 
-f 714//2910 694//2909 693//2908 
-f 565//2913 714//2912 693//2911 
-f 564//2916 714//2915 565//2914 
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-f 728//2925 713//2924 563//2923 
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-f 727//2931 728//2930 562//2929 
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-f 560//2937 727//2936 561//2935 
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-f 741//2958 739//2957 742//2956 
-f 553//2961 739//2960 741//2959 
-f 554//2964 553//2963 741//2962 
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-f 709//3072 699//3071 698//3070 
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-f 1949//10041 1950//10040 1955//10039 
-f 1944//10044 1950//10043 1949//10042 
-f 1954//10047 1949//10046 1955//10045 
-f 1951//10050 1952//10049 1957//10048 
-f 1956//10053 1951//10052 1957//10051 
-f 1965//10056 1784//10055 1893//10054 
-f 1942//10059 1784//10058 1965//10057 
-f 1989//10062 1942//10061 1965//10060 
-f 1941//10065 1942//10064 1989//10063 
-f 2012//10068 1941//10067 1989//10066 
-f 1940//10071 1941//10070 2012//10069 
-f 2013//10074 1940//10073 2012//10072 
-f 2014//10077 1940//10076 2013//10075 
-f 1990//10080 2014//10079 2013//10078 
-f 1991//10083 2014//10082 1990//10081 
-f 1966//10086 1991//10085 1990//10084 
-f 1967//10089 1991//10088 1966//10087 
-f 1893//10092 1967//10091 1966//10090 
-f 1968//10095 1967//10094 1893//10093 
-f 1894//10098 1968//10097 1893//10096 
-f 1969//10101 1968//10100 1894//10099 
-f 1970//10104 1969//10103 1894//10102 
-f 1994//10107 1969//10106 1970//10105 
-f 1995//10110 1994//10109 1970//10108 
-f 2018//10113 1994//10112 1995//10111 
-f 2019//10116 2018//10115 1995//10114 
-f 1958//10119 2018//10118 2019//10117 
-f 1959//10122 1958//10121 2019//10120 
-f 2014//10125 1958//10124 1940//10123 
-f 2015//10128 1958//10127 2014//10126 
-f 1991//10131 2015//10130 2014//10129 
-f 1992//10134 2015//10133 1991//10132 
-f 1967//10137 1992//10136 1991//10135 
-f 1968//10140 1992//10139 1967//10138 
-f 1959//10143 2022//10142 1960//10141 
-f 2021//10146 2022//10145 1959//10144 
-f 2020//10149 2021//10148 1959//10147 
-f 1997//10152 2021//10151 2020//10150 
-f 1996//10155 1997//10154 2020//10153 
-f 1972//10158 1997//10157 1996//10156 
-f 1971//10161 1972//10160 1996//10159 
-f 1894//10164 1972//10163 1971//10162 
-f 1970//10167 1894//10166 1971//10165 
-f 1960//10170 2026//10169 1961//10168 
-f 2025//10173 2026//10172 1960//10171 
-f 2024//10176 2025//10175 1960//10174 
-f 2001//10179 2025//10178 2024//10177 
-f 2000//10182 2001//10181 2024//10180 
-f 1976//10185 2001//10184 2000//10183 
-f 1975//10188 1976//10187 2000//10186 
-f 1896//10191 1976//10190 1975//10189 
-f 1895//10194 1896//10193 1975//10192 
-f 1961//10197 2031//10196 1962//10195 
-f 2030//10200 2031//10199 1961//10198 
-f 2029//10203 2030//10202 1961//10201 
-f 2006//10206 2030//10205 2029//10204 
-f 2005//10209 2006//10208 2029//10207 
-f 1981//10212 2006//10211 2005//10210 
-f 1980//10215 1981//10214 2005//10213 
-f 1897//10218 1981//10217 1980//10216 
-f 1979//10221 1897//10220 1980//10219 
-f 1978//10224 1897//10223 1979//10222 
-f 2003//10227 1978//10226 1979//10225 
-f 2002//10230 1978//10229 2003//10228 
-f 2026//10233 2002//10232 2003//10231 
-f 2025//10236 2002//10235 2026//10234 
-f 1962//10239 2034//10238 1883//10237 
-f 2033//10242 2034//10241 1962//10240 
-f 2032//10245 2033//10244 1962//10243 
-f 2009//10248 2033//10247 2032//10246 
-f 2008//10251 2009//10250 2032//10249 
-f 1984//10254 2009//10253 2008//10252 
-f 1983//10257 1984//10256 2008//10255 
-f 1898//10260 1984//10259 1983//10258 
-f 1982//10263 1898//10262 1983//10261 
-f 1981//10266 1898//10265 1982//10264 
-f 2006//10269 1981//10268 1982//10267 
-f 1964//10272 1883//10271 2034//10270 
-f 1882//10275 1883//10274 1964//10273 
-f 1963//10278 1882//10277 1964//10276 
-f 1881//10281 1882//10280 1963//10279 
-f 1988//10284 1881//10283 1963//10282 
-f 1899//10287 1881//10286 1988//10285 
-f 1987//10290 1899//10289 1988//10288 
-f 1986//10293 1899//10292 1987//10291 
-f 2011//10296 1986//10295 1987//10294 
-f 2010//10299 1986//10298 2011//10297 
-f 2034//10302 2010//10301 2011//10300 
-f 2033//10305 2010//10304 2034//10303 
-f 1985//10308 1899//10307 1986//10306 
-f 1898//10311 1899//10310 1985//10309 
-f 1984//10314 1898//10313 1985//10312 
-f 1981//10317 1897//10316 1898//10315 
-f 1978//10320 1896//10319 1897//10318 
-f 1977//10323 1896//10322 1978//10321 
-f 2002//10326 1977//10325 1978//10324 
-f 2001//10329 1977//10328 2002//10327 
-f 2025//10332 2001//10331 2002//10330 
-f 1895//10335 1972//10334 1894//10333 
-f 1973//10338 1972//10337 1895//10336 
-f 1974//10341 1973//10340 1895//10339 
-f 1998//10344 1973//10343 1974//10342 
-f 1999//10347 1998//10346 1974//10345 
-f 2022//10350 1998//10349 1999//10348 
-f 2023//10353 2022//10352 1999//10351 
-f 1960//10356 2022//10355 2023//10354 
-f 2024//10359 1960//10358 2023//10357 
-f 1965//10362 1893//10361 1966//10360 
-f 1965//10365 1966//10364 1990//10363 
-f 1993//10368 1968//10367 1969//10366 
-f 1992//10371 1968//10370 1993//10369 
-f 2016//10374 1992//10373 1993//10372 
-f 2015//10377 1992//10376 2016//10375 
-f 1958//10380 2015//10379 2016//10378 
-f 1995//10383 1971//10382 1996//10381 
-f 1970//10386 1971//10385 1995//10384 
-f 1974//10389 1895//10388 1975//10387 
-f 1997//10392 1973//10391 1998//10390 
-f 1972//10395 1973//10394 1997//10393 
-f 1976//10398 1896//10397 1977//10396 
-f 1999//10401 1975//10400 2000//10399 
-f 1974//10404 1975//10403 1999//10402 
-f 1976//10407 1977//10406 2001//10405 
-f 2004//10410 1979//10409 1980//10408 
-f 2003//10413 1979//10412 2004//10411 
-f 2027//10416 2003//10415 2004//10414 
-f 2026//10419 2003//10418 2027//10417 
-f 1961//10422 2026//10421 2027//10420 
-f 2007//10425 1982//10424 1983//10423 
-f 2006//10428 1982//10427 2007//10426 
-f 2030//10431 2006//10430 2007//10429 
-f 1985//10434 1986//10433 2010//10432 
-f 2009//10437 1985//10436 2010//10435 
-f 1984//10440 1985//10439 2009//10438 
-f 1987//10443 1988//10442 1963//10441 
-f 2011//10446 1987//10445 1963//10444 
-f 1989//10449 1990//10448 2013//10447 
-f 1965//10452 1990//10451 1989//10450 
-f 1989//10455 2013//10454 2012//10453 
-f 1994//10458 1993//10457 1969//10456 
-f 2017//10461 1993//10460 1994//10459 
-f 2018//10464 2017//10463 1994//10462 
-f 1958//10467 2017//10466 2018//10465 
-f 2016//10470 1993//10469 2017//10468 
-f 2019//10473 1996//10472 2020//10471 
-f 1995//10476 1996//10475 2019//10474 
-f 2021//10479 1998//10478 2022//10477 
-f 1997//10482 1998//10481 2021//10480 
-f 2023//10485 2000//10484 2024//10483 
-f 1999//10488 2000//10487 2023//10486 
-f 2005//10491 2004//10490 1980//10489 
-f 2028//10494 2004//10493 2005//10492 
-f 2029//10497 2028//10496 2005//10495 
-f 1961//10500 2028//10499 2029//10498 
-f 2027//10503 2004//10502 2028//10501 
-f 2008//10506 2007//10505 1983//10504 
-f 2031//10509 2007//10508 2008//10507 
-f 2032//10512 2031//10511 2008//10510 
-f 1962//10515 2031//10514 2032//10513 
-f 2030//10518 2007//10517 2031//10516 
-f 2009//10521 2010//10520 2033//10519 
-f 2011//10524 1963//10523 1964//10522 
-f 2034//10527 2011//10526 1964//10525 
-f 2016//10530 2017//10529 1958//10528 
-f 2019//10533 2020//10532 1959//10531 
-f 2027//10536 2028//10535 1961//10534 
-f 1884//10539 1865//10538 1883//10537 
-f 2035//10542 1865//10541 1884//10540 
-f 1885//10545 2035//10544 1884//10543 
-f 1864//10548 2035//10547 1885//10546 
-f 2036//10551 1864//10550 1885//10549 
-f 1863//10554 1864//10553 2036//10552 
-f 2038//10557 1863//10556 2036//10555 
-f 2040//10560 1863//10559 2038//10558 
-f 2039//10563 2040//10562 2038//10561 
-f 1877//10566 2040//10565 2039//10564 
-f 1886//10569 1877//10568 2039//10567 
-f 2035//10572 1864//10571 1865//10570 
-f 2040//10575 1877//10574 1863//10573 
-f 1886//10578 2036//10577 1885//10576 
-f 2037//10581 2036//10580 1886//10579 
-f 2038//10584 2037//10583 1886//10582 
-f 2036//10587 2037//10586 2038//10585 
-f 2039//10590 2038//10589 1886//10588 
-f 1911//10593 1704//10592 1750//10591 
-f 1703//10596 1704//10595 1911//10594 
-f 1912//10599 1703//10598 1911//10597 
-f 1913//10602 1703//10601 1912//10600 
-f 2048//10605 1703//10604 1913//10603 
-f 2047//10608 1703//10607 2048//10606 
-f 2046//10611 1703//10610 2047//10609 
-f 1702//10614 1703//10613 2046//10612 
-f 2045//10617 1702//10616 2046//10615 
-f 2044//10620 1702//10619 2045//10618 
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-f 1700//10626 1702//10625 2043//10624 
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-f 2041//10632 1700//10631 2042//10630 
-f 1700//10635 1608//10634 1702//10633 
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-f 2051//10647 2053//10646 2052//10645 
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-f 2057//10653 2054//10652 2053//10651 
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-f 2056//10659 2055//10658 2057//10657 
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-f 2061//10674 2060//10673 2089//10672 
-f 2089//10677 2062//10676 2061//10675 
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-f 2063//10683 2062//10682 2088//10681 
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-f 1807//10698 2066//10697 2065//10696 
-f 1824//10701 2066//10700 1807//10699 
-f 2052//10704 2066//10703 1824//10702 
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-f 2051//10710 1826//10709 2050//10708 
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-f 1824//10716 1825//10715 2051//10714 
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-f 2086//10725 1807//10724 2087//10723 
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-f 2085//10731 1806//10730 2086//10729 
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-f 2084//10737 1805//10736 2085//10735 
-f 1804//10740 1805//10739 2084//10738 
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-f 1803//10746 1804//10745 2083//10744 
-f 2082//10749 1803//10748 2083//10747 
-f 1802//10752 1803//10751 2082//10750 
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-f 1801//10758 1802//10757 2081//10756 
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-f 2079//10767 1800//10766 2080//10765 
-f 1799//10770 1800//10769 2079//10768 
-f 2078//10773 1799//10772 2079//10771 
-f 1798//10776 1799//10775 2078//10774 
-f 2077//10779 1798//10778 2078//10777 
-f 1797//10782 1798//10781 2077//10780 
-f 1796//10785 1797//10784 2077//10783 
-f 2076//10788 1796//10787 2077//10786 
-f 1795//10791 1796//10790 2076//10789 
-f 2075//10794 1795//10793 2076//10792 
-f 1794//10797 1795//10796 2075//10795 
-f 2074//10800 1794//10799 2075//10798 
-f 1793//10803 1794//10802 2074//10801 
-f 2073//10806 1793//10805 2074//10804 
-f 1792//10809 1793//10808 2073//10807 
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-f 1788//10815 1792//10814 2072//10813 
-f 2071//10818 1788//10817 2072//10816 
-f 2068//10821 1788//10820 2071//10819 
-f 2069//10824 2068//10823 2071//10822 
-f 1788//10827 1902//10826 1787//10825 
-f 1901//10830 1902//10829 1788//10828 
-f 2068//10833 1901//10832 1788//10831 
-f 2067//10836 1901//10835 2068//10834 
-f 1900//10839 1901//10838 2067//10837 
-f 1892//10842 1787//10841 1902//10840 
-f 1786//10845 1787//10844 1892//10843 
-f 1785//10848 1786//10847 1892//10846 
-f 2071//10851 2070//10850 2069//10849 
-f 2095//10854 2090//10853 2096//10852 
-f 2091//10857 2090//10856 2095//10855 
-f 2092//10860 2091//10859 2095//10858 
-f 2095//10863 2093//10862 2092//10861 
-f 2094//10866 2093//10865 2095//10864 
-f 2097//10869 2101//10868 2098//10867 
-f 2054//10872 2101//10871 2097//10870 
-f 2053//10875 2054//10874 2097//10873 
-f 2101//10878 2099//10877 2098//10876 
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-f 2055//10884 2056//10883 2101//10882 
-f 2056//10887 2100//10886 2099//10885 
-f 2101//10890 2054//10889 2055//10888 
-f 1828//10893 2049//10892 1827//10891 
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-f 1832//10899 2111//10898 1828//10897 
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-f 1833//10905 2112//10904 1832//10903 
-f 1834//10908 2112//10907 1833//10906 
-f 2109//10911 2112//10910 1834//10909 
-f 2106//10914 2112//10913 2109//10912 
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-f 2107//10920 2106//10919 2108//10918 
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-f 2056//10926 2049//10925 2110//10924 
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-f 2111//10935 2102//10934 2110//10933 
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-f 2112//10941 2103//10940 2111//10939 
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-f 1509//10953 2124//10952 1520//10951 
-f 2125//10956 2124//10955 1509//10954 
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-f 1520//10962 2122//10961 1519//10960 
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-f 1518//10974 1519//10973 2121//10972 
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-f 1515//10995 1516//10994 2117//10993 
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-f 1510//11031 1511//11030 1853//11029 
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-f 2219//11088 2218//11087 2206//11086 
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-f 2211//11172 2137//11171 2136//11170 
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-f 2219//11397 2237//11396 2236//11395 
-f 2220//11400 2237//11399 2219//11398 
-f 2253//11403 2171//11402 2237//11401 
-f 2172//11406 2171//11405 2253//11404 
-f 2173//11409 2172//11408 2253//11407 
-f 2253//11412 2174//11411 2173//11410 
-f 2176//11415 2174//11414 2253//11413 
-f 2254//11418 2176//11417 2253//11416 
-f 2177//11421 2176//11420 2254//11419 
-f 2255//11424 2177//11423 2254//11422 
-f 2178//11427 2177//11426 2255//11425 
-f 2179//11430 2178//11429 2255//11428 
-f 2176//11433 2175//11432 2174//11431 
-f 2255//11436 2180//11435 2179//11434 
-f 2181//11439 2180//11438 2255//11437 
-f 2239//11442 2181//11441 2255//11440 
-f 2182//11445 2181//11444 2239//11443 
-f 2240//11448 2182//11447 2239//11446 
-f 2183//11451 2182//11450 2240//11449 
-f 2256//11454 2183//11453 2240//11452 
-f 2184//11457 2183//11456 2256//11455 
-f 2185//11460 2184//11459 2256//11458 
-f 2256//11463 2186//11462 2185//11461 
-f 2188//11466 2186//11465 2256//11464 
-f 2257//11469 2188//11468 2256//11467 
-f 2189//11472 2188//11471 2257//11470 
-f 2258//11475 2189//11474 2257//11473 
-f 2190//11478 2189//11477 2258//11476 
-f 2191//11481 2190//11480 2258//11479 
-f 2188//11484 2187//11483 2186//11482 
-f 2258//11487 1850//11486 2191//11485 
-f 2242//11490 1850//11489 2258//11488 
-f 2241//11493 2242//11492 2258//11491 
-f 2224//11496 2242//11495 2241//11494 
-f 2223//11499 2224//11498 2241//11497 
-f 2242//11502 1849//11501 1850//11500 
-f 2243//11505 1849//11504 2242//11503 
-f 2225//11508 2243//11507 2242//11506 
-f 2226//11511 2243//11510 2225//11509 
-f 2243//11514 1848//11513 1849//11512 
-f 2259//11517 1848//11516 2243//11515 
-f 2260//11520 2259//11519 2243//11518 
-f 2195//11523 2259//11522 2260//11521 
-f 2119//11526 2195//11525 2260//11524 
-f 2120//11529 2195//11528 2119//11527 
-f 2259//11532 2192//11531 1848//11530 
-f 2193//11535 2192//11534 2259//11533 
-f 2195//11538 2193//11537 2259//11536 
-f 2194//11541 2193//11540 2195//11539 
-f 2260//11544 2118//11543 2119//11542 
-f 2117//11547 2118//11546 2260//11545 
-f 2116//11550 2117//11549 2260//11548 
-f 2116//11553 1570//11552 2115//11551 
-f 1569//11556 1570//11555 2116//11554 
-f 1867//11559 1569//11558 2116//11557 
-f 1570//11562 2114//11561 2115//11560 
-f 1571//11565 2114//11564 1570//11563 
-f 1572//11568 2114//11567 1571//11566 
-f 2113//11571 2114//11570 1572//11569 
-f 1573//11574 2113//11573 1572//11572 
-f 1854//11577 2113//11576 1573//11575 
-f 1867//11580 2227//11579 1866//11578 
-f 2244//11583 2227//11582 1867//11581 
-f 2116//11586 2244//11585 1867//11584 
-f 2260//11589 2244//11588 2116//11587 
-f 2213//11592 2230//11591 2212//11590 
-f 2231//11595 2230//11594 2213//11593 
-f 2214//11598 2231//11597 2213//11596 
-f 2232//11601 2231//11600 2214//11599 
-f 2215//11604 2232//11603 2214//11602 
-f 2233//11607 2232//11606 2215//11605 
-f 2216//11610 2233//11609 2215//11608 
-f 2234//11613 2233//11612 2216//11611 
-f 2217//11616 2234//11615 2216//11614 
-f 2235//11619 2234//11618 2217//11617 
-f 2218//11622 2235//11621 2217//11620 
-f 2238//11625 2220//11624 2221//11623 
-f 2237//11628 2220//11627 2238//11626 
-f 2254//11631 2237//11630 2238//11629 
-f 2253//11634 2237//11633 2254//11632 
-f 2239//11637 2221//11636 2222//11635 
-f 2238//11640 2221//11639 2239//11638 
-f 2255//11643 2238//11642 2239//11641 
-f 2254//11646 2238//11645 2255//11644 
-f 2222//11649 2240//11648 2239//11647 
-f 2223//11652 2240//11651 2222//11650 
-f 2224//11655 2225//11654 2242//11653 
-f 2226//11658 2227//11657 2244//11656 
-f 2243//11661 2226//11660 2244//11659 
-f 2231//11664 2247//11663 2230//11662 
-f 2248//11667 2247//11666 2231//11665 
-f 2232//11670 2248//11669 2231//11668 
-f 2249//11673 2248//11672 2232//11671 
-f 2233//11676 2249//11675 2232//11674 
-f 2234//11679 2235//11678 2251//11677 
-f 2241//11682 2240//11681 2223//11680 
-f 2257//11685 2240//11684 2241//11683 
-f 2258//11688 2257//11687 2241//11686 
-f 2240//11691 2257//11690 2256//11689 
-f 2243//11694 2244//11693 2260//11692 
-f 2245//11697 2246//11696 2143//11695 
-f 2228//11700 2246//11699 2245//11698 
-f 1506//11703 1534//11702 1505//11701 
-f 1533//11706 1534//11705 1506//11704 
-f 2127//11709 1533//11708 1506//11707 
-f 1853//11712 1533//11711 2127//11710 
-f 1574//11715 1533//11714 1853//11713 
-f 1534//11718 1504//11717 1505//11716 
-f 1535//11721 1504//11720 1534//11719 
-f 1503//11724 1504//11723 1535//11722 
-f 1536//11727 1503//11726 1535//11725 
-f 2262//11730 1503//11729 1536//11728 
-f 2263//11733 2262//11732 1536//11731 
-f 2262//11736 1502//11735 1503//11734 
-f 2261//11739 1502//11738 2262//11737 
-f 1501//11742 1502//11741 2261//11740 
-f 1500//11745 1501//11744 2261//11743 
-f 1500//11748 2125//11747 1506//11746 
-f 2124//11751 2125//11750 1500//11749 
-f 2123//11754 2124//11753 1500//11752 
-f 1506//11757 2126//11756 2127//11755 
-f 2125//11760 2126//11759 1506//11758 
-f 2123//11763 2261//11762 2122//11761 
-f 1500//11766 2261//11765 2123//11764 
-f 1536//11769 2264//11768 2263//11767 
-f 1537//11772 2264//11771 1536//11770 
-f 2265//11775 2264//11774 1537//11773 
-f 1538//11778 2265//11777 1537//11776 
-f 1539//11781 2265//11780 1538//11779 
-f 1857//11784 2265//11783 1539//11782 
-f 1856//11787 1857//11786 1539//11785 
-f 1539//11790 1564//11789 1856//11788 
-f 1488//11793 2269//11792 1499//11791 
-f 2270//11796 2269//11795 1488//11794 
-f 1489//11799 2270//11798 1488//11797 
-f 2271//11802 2270//11801 1489//11800 
-f 1490//11805 2271//11804 1489//11803 
-f 2272//11808 2271//11807 1490//11806 
-f 2273//11811 2272//11810 1490//11809 
-f 1499//11814 2267//11813 1498//11812 
-f 2268//11817 2267//11816 1499//11815 
-f 2269//11820 2268//11819 1499//11818 
-f 2266//11823 1498//11822 2267//11821 
-f 1497//11826 1498//11825 2266//11824 
-f 2138//11829 1497//11828 2266//11827 
-f 2139//11832 1497//11831 2138//11830 
-f 1496//11835 1497//11834 2139//11833 
-f 2140//11838 1496//11837 2139//11836 
-f 2141//11841 1496//11840 2140//11839 
-f 1495//11844 1496//11843 2141//11842 
-f 2142//11847 1495//11846 2141//11845 
-f 1494//11850 1495//11849 2142//11848 
-f 2278//11853 1494//11852 2142//11851 
-f 1493//11856 1494//11855 2278//11854 
-f 2277//11859 1493//11858 2278//11857 
-f 1492//11862 1493//11861 2277//11860 
-f 2276//11865 1492//11864 2277//11863 
-f 2275//11868 1492//11867 2276//11866 
-f 1491//11871 1492//11870 2275//11869 
-f 2274//11874 1491//11873 2275//11872 
-f 2273//11877 1491//11876 2274//11875 
-f 1490//11880 1491//11879 2273//11878 
-f 1476//11883 2146//11882 1487//11881 
-f 2145//11886 2146//11885 1476//11884 
-f 2144//11889 2145//11888 1476//11887 
-f 2147//11892 1487//11891 2146//11890 
-f 1486//11895 1487//11894 2147//11893 
-f 2148//11898 1486//11897 2147//11896 
-f 2149//11901 1486//11900 2148//11899 
-f 1485//11904 1486//11903 2149//11902 
-f 2150//11907 1485//11906 2149//11905 
-f 2151//11910 1485//11909 2150//11908 
-f 1484//11913 1485//11912 2151//11911 
-f 2152//11916 1484//11915 2151//11914 
-f 1483//11919 1484//11918 2152//11917 
-f 2287//11922 1483//11921 2152//11920 
-f 1482//11925 1483//11924 2287//11923 
-f 2286//11928 1482//11927 2287//11926 
-f 1481//11931 1482//11930 2286//11929 
-f 2285//11934 1481//11933 2286//11932 
-f 2284//11937 1481//11936 2285//11935 
-f 1480//11940 1481//11939 2284//11938 
-f 2283//11943 1480//11942 2284//11941 
-f 2282//11946 1480//11945 2283//11944 
-f 1479//11949 1480//11948 2282//11947 
-f 2281//11952 1479//11951 2282//11950 
-f 2280//11955 1479//11954 2281//11953 
-f 1478//11958 1479//11957 2280//11956 
-f 2279//11961 1478//11960 2280//11959 
-f 1477//11964 1478//11963 2279//11962 
-f 2144//11967 1477//11966 2279//11965 
-f 1476//11970 1477//11969 2144//11968 
-f 1440//11973 2158//11972 1451//11971 
-f 2157//11976 2158//11975 1440//11974 
-f 1441//11979 2157//11978 1440//11977 
-f 2156//11982 2157//11981 1441//11980 
-f 2155//11985 2156//11984 1441//11983 
-f 1451//11988 2160//11987 1450//11986 
-f 2159//11991 2160//11990 1451//11989 
-f 2158//11994 2159//11993 1451//11992 
-f 1450//11997 2162//11996 1449//11995 
-f 2161//12000 2162//11999 1450//11998 
-f 2160//12003 2161//12002 1450//12001 
-f 2163//12006 1449//12005 2162//12004 
-f 1448//12009 1449//12008 2163//12007 
-f 2296//12012 1448//12011 2163//12010 
-f 1447//12015 1448//12014 2296//12013 
-f 2295//12018 1447//12017 2296//12016 
-f 1446//12021 1447//12020 2295//12019 
-f 2294//12024 1446//12023 2295//12022 
-f 2293//12027 1446//12026 2294//12025 
-f 1445//12030 1446//12029 2293//12028 
-f 2292//12033 1445//12032 2293//12031 
-f 2291//12036 1445//12035 2292//12034 
-f 1444//12039 1445//12038 2291//12037 
-f 2290//12042 1444//12041 2291//12040 
-f 2289//12045 1444//12044 2290//12043 
-f 1443//12048 1444//12047 2289//12046 
-f 2288//12051 1443//12050 2289//12049 
-f 1442//12054 1443//12053 2288//12052 
-f 2155//12057 1442//12056 2288//12055 
-f 1441//12060 1442//12059 2155//12058 
-f 1452//12063 2172//12062 1463//12061 
-f 2171//12066 2172//12065 1452//12064 
-f 2170//12069 2171//12068 1452//12067 
-f 1463//12072 2174//12071 1462//12070 
-f 2173//12075 2174//12074 1463//12073 
-f 2172//12078 2173//12077 1463//12076 
-f 2175//12081 1462//12080 2174//12079 
-f 1461//12084 1462//12083 2175//12082 
-f 2305//12087 1461//12086 2175//12085 
-f 1460//12090 1461//12089 2305//12088 
-f 2304//12093 1460//12092 2305//12091 
-f 1459//12096 1460//12095 2304//12094 
-f 2303//12099 1459//12098 2304//12097 
-f 2302//12102 1459//12101 2303//12100 
-f 1458//12105 1459//12104 2302//12103 
-f 2301//12108 1458//12107 2302//12106 
-f 2300//12111 1458//12110 2301//12109 
-f 1457//12114 1458//12113 2300//12112 
-f 2299//12117 1457//12116 2300//12115 
-f 2298//12120 1457//12119 2299//12118 
-f 1456//12123 1457//12122 2298//12121 
-f 2297//12126 1456//12125 2298//12124 
-f 1455//12129 1456//12128 2297//12127 
-f 2167//12132 1455//12131 2297//12130 
-f 1454//12135 1455//12134 2167//12133 
-f 2168//12138 1454//12137 2167//12136 
-f 2169//12141 1454//12140 2168//12139 
-f 1453//12144 1454//12143 2169//12142 
-f 2170//12147 1453//12146 2169//12145 
-f 1452//12150 1453//12149 2170//12148 
-f 1521//12153 2185//12152 1532//12151 
-f 2184//12156 2185//12155 1521//12154 
-f 2183//12159 2184//12158 1521//12157 
-f 1532//12162 2187//12161 1531//12160 
-f 2186//12165 2187//12164 1532//12163 
-f 2185//12168 2186//12167 1532//12166 
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-f 1530//12174 1531//12173 2312//12172 
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-f 1529//12180 1530//12179 2311//12178 
-f 2310//12183 1529//12182 2311//12181 
-f 1528//12186 1529//12185 2310//12184 
-f 2309//12189 1528//12188 2310//12187 
-f 2308//12192 1528//12191 2309//12190 
-f 1527//12195 1528//12194 2308//12193 
-f 2307//12198 1527//12197 2308//12196 
-f 1526//12201 1527//12200 2307//12199 
-f 2306//12204 1526//12203 2307//12202 
-f 1525//12207 1526//12206 2306//12205 
-f 2177//12210 1525//12209 2306//12208 
-f 1524//12213 1525//12212 2177//12211 
-f 2178//12216 1524//12215 2177//12214 
-f 2179//12219 1524//12218 2178//12217 
-f 1523//12222 1524//12221 2179//12220 
-f 2180//12225 1523//12224 2179//12223 
-f 2181//12228 1523//12227 2180//12226 
-f 1522//12231 1523//12230 2181//12229 
-f 2182//12234 1522//12233 2181//12232 
-f 2183//12237 1522//12236 2182//12235 
-f 1521//12240 1522//12239 2183//12238 
-f 1464//12243 2194//12242 1475//12241 
-f 2193//12246 2194//12245 1464//12244 
-f 1465//12249 2193//12248 1464//12247 
-f 2192//12252 2193//12251 1465//12250 
-f 1848//12255 2192//12254 1465//12253 
-f 2319//12258 1475//12257 2194//12256 
-f 1474//12261 1475//12260 2319//12259 
-f 2318//12264 1474//12263 2319//12262 
-f 1473//12267 1474//12266 2318//12265 
-f 2317//12270 1473//12269 2318//12268 
-f 1472//12273 1473//12272 2317//12271 
-f 2316//12276 1472//12275 2317//12274 
-f 2315//12279 1472//12278 2316//12277 
-f 1471//12282 1472//12281 2315//12280 
-f 2314//12285 1471//12284 2315//12283 
-f 1470//12288 1471//12287 2314//12286 
-f 2313//12291 1470//12290 2314//12289 
-f 1469//12294 1470//12293 2313//12292 
-f 2189//12297 1469//12296 2313//12295 
-f 1468//12300 1469//12299 2189//12298 
-f 2190//12303 1468//12302 2189//12301 
-f 2191//12306 1468//12305 2190//12304 
-f 1467//12309 1468//12308 2191//12307 
-f 1850//12312 1467//12311 2191//12310 
-f 1466//12315 1467//12314 1850//12313 
-f 1851//12318 1466//12317 1850//12316 
-f 1852//12321 1466//12320 1851//12319 
-f 1848//12324 1466//12323 1852//12322 
-f 1465//12327 1466//12326 1848//12325 
-f 1913//12330 2047//12329 2048//12328 
-f 2046//12333 2047//12332 1913//12331 
-f 2045//12336 2046//12335 1913//12334 
-f 1913//12339 2044//12338 2045//12337 
-f 2043//12342 2044//12341 1913//12340 
-f 2042//12345 2043//12344 1913//12343 
-f 1914//12348 2042//12347 1913//12346 
-f 2320//12351 2042//12350 1914//12349 
-f 2321//12354 2320//12353 1914//12352 
-f 2366//12357 2321//12356 1914//12355 
-f 2322//12360 2321//12359 2366//12358 
-f 2367//12363 2322//12362 2366//12361 
-f 2365//12366 2322//12365 2367//12364 
-f 2423//12369 2365//12368 2367//12367 
-f 2371//12372 2365//12371 2423//12370 
-f 1915//12375 2371//12374 2423//12373 
-f 2370//12378 2371//12377 1915//12376 
-f 1916//12381 2370//12380 1915//12379 
-f 1910//12384 2370//12383 1916//12382 
-f 2358//12387 2370//12386 1910//12385 
-f 2357//12390 2370//12389 2358//12388 
-f 2371//12393 2370//12392 2357//12391 
-f 2356//12396 2371//12395 2357//12394 
-f 2355//12399 2371//12398 2356//12397 
-f 2354//12402 2371//12401 2355//12400 
-f 2369//12405 2371//12404 2354//12403 
-f 2364//12408 2369//12407 2354//12406 
-f 2368//12411 2369//12410 2364//12409 
-f 2373//12414 2368//12413 2364//12412 
-f 2324//12417 2368//12416 2373//12415 
-f 2325//12420 2324//12419 2373//12418 
-f 2365//12423 2323//12422 2322//12421 
-f 2372//12426 2323//12425 2365//12424 
-f 2371//12429 2372//12428 2365//12427 
-f 2369//12432 2372//12431 2371//12430 
-f 2368//12435 2323//12434 2372//12433 
-f 2324//12438 2323//12437 2368//12436 
-f 2325//12441 2379//12440 2326//12439 
-f 2374//12444 2379//12443 2325//12442 
-f 2373//12447 2374//12446 2325//12445 
-f 2375//12450 2374//12449 2373//12448 
-f 2364//12453 2375//12452 2373//12451 
-f 2353//12456 2375//12455 2364//12454 
-f 2354//12459 2353//12458 2364//12457 
-f 2326//12462 2376//12461 2327//12460 
-f 2377//12465 2376//12464 2326//12463 
-f 2379//12468 2377//12467 2326//12466 
-f 2378//12471 2377//12470 2379//12469 
-f 2362//12474 2378//12473 2379//12472 
-f 2353//12477 2378//12476 2362//12475 
-f 2375//12480 2353//12479 2362//12478 
-f 2327//12483 2382//12482 2328//12481 
-f 2394//12486 2382//12485 2327//12484 
-f 2359//12489 2394//12488 2327//12487 
-f 2393//12492 2394//12491 2359//12490 
-f 2422//12495 2393//12494 2359//12493 
-f 2392//12498 2393//12497 2422//12496 
-f 2421//12501 2392//12500 2422//12499 
-f 2352//12504 2392//12503 2421//12502 
-f 2378//12507 2352//12506 2421//12505 
-f 2353//12510 2352//12509 2378//12508 
-f 2382//12513 2329//12512 2328//12511 
-f 2330//12516 2329//12515 2382//12514 
-f 2381//12519 2330//12518 2382//12517 
-f 2331//12522 2330//12521 2381//12520 
-f 2332//12525 2331//12524 2381//12523 
-f 2332//12528 2395//12527 2333//12526 
-f 2133//12531 2395//12530 2332//12529 
-f 2381//12534 2133//12533 2332//12532 
-f 2132//12537 2133//12536 2381//12535 
-f 2382//12540 2132//12539 2381//12538 
-f 2131//12543 2132//12542 2382//12541 
-f 2383//12546 2131//12545 2382//12544 
-f 2210//12549 2131//12548 2383//12547 
-f 2384//12552 2210//12551 2383//12550 
-f 2209//12555 2210//12554 2384//12553 
-f 2350//12558 2209//12557 2384//12556 
-f 2349//12561 2209//12560 2350//12559 
-f 2396//12564 2209//12563 2349//12562 
-f 2348//12567 2396//12566 2349//12565 
-f 2208//12570 2396//12569 2348//12568 
-f 2347//12573 2208//12572 2348//12571 
-f 2207//12576 2208//12575 2347//12574 
-f 2206//12579 2207//12578 2347//12577 
-f 2333//12582 2380//12581 2334//12580 
-f 2134//12585 2380//12584 2333//12583 
-f 2395//12588 2134//12587 2333//12586 
-f 2133//12591 2134//12590 2395//12589 
-f 2334//12594 2336//12593 2335//12592 
-f 2337//12597 2336//12596 2334//12595 
-f 2134//12600 2337//12599 2334//12598 
-f 2338//12603 2337//12602 2134//12601 
-f 2135//12606 2338//12605 2134//12604 
-f 2396//12609 2208//12608 2209//12607 
-f 2346//12612 2206//12611 2347//12610 
-f 2205//12615 2206//12614 2346//12613 
-f 2403//12618 2205//12617 2346//12616 
-f 2345//12621 2205//12620 2403//12619 
-f 2346//12624 2345//12623 2403//12622 
-f 2345//12627 2204//12626 2205//12625 
-f 2404//12630 2204//12629 2345//12628 
-f 2344//12633 2404//12632 2345//12631 
-f 2343//12636 2404//12635 2344//12634 
-f 2203//12639 2404//12638 2343//12637 
-f 2342//12642 2203//12641 2343//12640 
-f 2391//12645 2203//12644 2342//12643 
-f 2402//12648 2391//12647 2342//12646 
-f 2390//12651 2391//12650 2402//12649 
-f 2401//12654 2390//12653 2402//12652 
-f 2389//12657 2390//12656 2401//12655 
-f 2400//12660 2389//12659 2401//12658 
-f 2388//12663 2389//12662 2400//12661 
-f 2399//12666 2388//12665 2400//12664 
-f 2387//12669 2388//12668 2399//12667 
-f 2398//12672 2387//12671 2399//12670 
-f 2386//12675 2387//12674 2398//12673 
-f 2361//12678 2386//12677 2398//12676 
-f 1960//12681 2386//12680 2361//12679 
-f 1959//12684 1960//12683 2361//12682 
-f 2404//12687 2203//12686 2204//12685 
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+f 2864//15468 2865//15467 2856//15466
+f 2857//15471 2864//15470 2856//15469
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+f 2861//15486 2862//15485 2859//15484
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 # 0 polygons - 92 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderRollLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderRollLink.obj
index 6f3c870..9f2d304 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderRollLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderRollLink.obj
@@ -283,78 +283,78 @@ o Body1
 g Body1
 usemtl Opaque_67_72_77_
 s 1
-f 25//3 1//2 26//1 
-f 2//6 1//5 25//4 
-f 24//9 2//8 25//7 
-f 3//12 2//11 24//10 
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 # 0 polygons - 72 triangles
 
 #
@@ -637,78 +637,78 @@ o Body4
 g Body4
 usemtl Opaque_67_72_77_
 s 1
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 # 0 polygons - 72 triangles
 
 #
@@ -915,54 +915,54 @@ o Body2
 g Body2
 usemtl Opaque_165_165_165_
 s 1
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 # 0 polygons - 48 triangles
 
 #
@@ -3483,715 +3483,715 @@ o Body1_1
 g Body1_1
 usemtl Opaque_165_165_165_
 s 1
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 # 0 polygons - 709 triangles
 
 #
@@ -12914,2487 +12914,2486 @@ o Body1_2
 g Body1_2
 usemtl Opaque_165_165_165_
 s 1
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 # 0 polygons - 2482 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderYawLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderYawLink.obj
index 1608dfa..3026bdd 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftShoulderYawLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftShoulderYawLink.obj
@@ -1003,283 +1003,283 @@ o Body1
 g Body1
 usemtl Opaque_67_72_77_
 s 1
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 # 0 polygons - 277 triangles
 
 #
@@ -4864,998 +4864,998 @@ o Body1_1
 g Body1_1
 usemtl Opaque_157_207_237_
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 #
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 # 0 polygons - 258 triangles
 
 #
@@ -17368,54 +17368,54 @@ o Body5
 g Body5
 usemtl Opaque_67_72_77_
 s 1
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-f 2214//11175 2213//11174 2233//11173 
-f 2232//11178 2214//11177 2233//11176 
-f 2215//11181 2214//11180 2232//11179 
-f 2231//11184 2215//11183 2232//11182 
-f 2216//11187 2215//11186 2231//11185 
-f 2230//11190 2216//11189 2231//11188 
-f 2217//11193 2216//11192 2230//11191 
-f 2229//11196 2217//11195 2230//11194 
-f 2218//11199 2217//11198 2229//11197 
-f 2219//11202 2218//11201 2229//11200 
-f 2228//11205 2219//11204 2229//11203 
-f 2220//11208 2219//11207 2228//11206 
-f 2227//11211 2220//11210 2228//11209 
-f 2221//11214 2220//11213 2227//11212 
-f 2226//11217 2221//11216 2227//11215 
-f 2222//11220 2221//11219 2226//11218 
-f 2225//11223 2222//11222 2226//11221 
-f 2223//11226 2222//11225 2225//11224 
-f 2224//11229 2223//11228 2225//11227 
-f 2212//11232 2237//11231 2211//11230 
-f 2238//11235 2237//11234 2212//11233 
-f 2213//11238 2238//11237 2212//11236 
-f 2239//11241 2238//11240 2213//11239 
-f 2214//11244 2239//11243 2213//11242 
-f 2240//11247 2239//11246 2214//11245 
-f 2215//11250 2240//11249 2214//11248 
-f 2241//11253 2240//11252 2215//11251 
-f 2216//11256 2241//11255 2215//11254 
-f 2242//11259 2241//11258 2216//11257 
-f 2217//11262 2242//11261 2216//11260 
-f 2243//11265 2242//11264 2217//11263 
-f 2218//11268 2243//11267 2217//11266 
-f 2244//11271 2243//11270 2218//11269 
-f 2219//11274 2244//11273 2218//11272 
-f 2245//11277 2244//11276 2219//11275 
-f 2220//11280 2245//11279 2219//11278 
-f 2246//11283 2245//11282 2220//11281 
-f 2221//11286 2246//11285 2220//11284 
-f 2247//11289 2246//11288 2221//11287 
-f 2222//11292 2247//11291 2221//11290 
-f 2248//11295 2247//11294 2222//11293 
-f 2223//11298 2248//11297 2222//11296 
-f 2249//11301 2248//11300 2223//11299 
+f 2236//11160 2212//11159 2211//11158
+f 2235//11163 2212//11162 2236//11161
+f 2234//11166 2212//11165 2235//11164
+f 2213//11169 2212//11168 2234//11167
+f 2233//11172 2213//11171 2234//11170
+f 2214//11175 2213//11174 2233//11173
+f 2232//11178 2214//11177 2233//11176
+f 2215//11181 2214//11180 2232//11179
+f 2231//11184 2215//11183 2232//11182
+f 2216//11187 2215//11186 2231//11185
+f 2230//11190 2216//11189 2231//11188
+f 2217//11193 2216//11192 2230//11191
+f 2229//11196 2217//11195 2230//11194
+f 2218//11199 2217//11198 2229//11197
+f 2219//11202 2218//11201 2229//11200
+f 2228//11205 2219//11204 2229//11203
+f 2220//11208 2219//11207 2228//11206
+f 2227//11211 2220//11210 2228//11209
+f 2221//11214 2220//11213 2227//11212
+f 2226//11217 2221//11216 2227//11215
+f 2222//11220 2221//11219 2226//11218
+f 2225//11223 2222//11222 2226//11221
+f 2223//11226 2222//11225 2225//11224
+f 2224//11229 2223//11228 2225//11227
+f 2212//11232 2237//11231 2211//11230
+f 2238//11235 2237//11234 2212//11233
+f 2213//11238 2238//11237 2212//11236
+f 2239//11241 2238//11240 2213//11239
+f 2214//11244 2239//11243 2213//11242
+f 2240//11247 2239//11246 2214//11245
+f 2215//11250 2240//11249 2214//11248
+f 2241//11253 2240//11252 2215//11251
+f 2216//11256 2241//11255 2215//11254
+f 2242//11259 2241//11258 2216//11257
+f 2217//11262 2242//11261 2216//11260
+f 2243//11265 2242//11264 2217//11263
+f 2218//11268 2243//11267 2217//11266
+f 2244//11271 2243//11270 2218//11269
+f 2219//11274 2244//11273 2218//11272
+f 2245//11277 2244//11276 2219//11275
+f 2220//11280 2245//11279 2219//11278
+f 2246//11283 2245//11282 2220//11281
+f 2221//11286 2246//11285 2220//11284
+f 2247//11289 2246//11288 2221//11287
+f 2222//11292 2247//11291 2221//11290
+f 2248//11295 2247//11294 2222//11293
+f 2223//11298 2248//11297 2222//11296
+f 2249//11301 2248//11300 2223//11299
 # 0 polygons - 48 triangles
 
 #
@@ -18021,166 +18021,166 @@ o Body1_5
 g Body1_5
 usemtl Opaque_67_72_77_
 s 1
-f 2275//11304 2251//11303 2250//11302 
-f 2274//11307 2251//11306 2275//11305 
-f 2252//11310 2251//11309 2274//11308 
-f 2273//11313 2252//11312 2274//11311 
-f 2253//11316 2252//11315 2273//11314 
-f 2272//11319 2253//11318 2273//11317 
-f 2294//11322 2253//11321 2272//11320 
-f 2295//11325 2294//11324 2272//11323 
-f 2253//11328 2308//11327 2254//11326 
-f 2309//11331 2308//11330 2253//11329 
-f 2310//11334 2309//11333 2253//11332 
-f 2254//11337 2271//11336 2255//11335 
-f 2302//11340 2271//11339 2254//11338 
-f 2303//11343 2302//11342 2254//11341 
-f 2270//11346 2255//11345 2271//11344 
-f 2256//11349 2255//11348 2270//11347 
-f 2269//11352 2256//11351 2270//11350 
-f 2257//11355 2256//11354 2269//11353 
-f 2268//11358 2257//11357 2269//11356 
-f 2258//11361 2257//11360 2268//11359 
-f 2267//11364 2258//11363 2268//11362 
-f 2276//11367 2258//11366 2267//11365 
-f 2277//11370 2276//11369 2267//11368 
-f 2258//11373 2289//11372 2259//11371 
-f 2290//11376 2289//11375 2258//11374 
-f 2291//11379 2290//11378 2258//11377 
-f 2259//11382 2266//11381 2260//11380 
-f 2284//11385 2266//11384 2259//11383 
-f 2285//11388 2284//11387 2259//11386 
-f 2265//11391 2260//11390 2266//11389 
-f 2261//11394 2260//11393 2265//11392 
-f 2264//11397 2261//11396 2265//11395 
-f 2262//11400 2261//11399 2264//11398 
-f 2263//11403 2262//11402 2264//11401 
-f 2266//11406 2281//11405 2267//11404 
-f 2282//11409 2281//11408 2266//11407 
-f 2283//11412 2282//11411 2266//11410 
-f 2271//11415 2297//11414 2272//11413 
-f 2298//11418 2297//11417 2271//11416 
-f 2299//11421 2298//11420 2271//11419 
-f 2267//11424 2278//11423 2277//11422 
-f 2279//11427 2278//11426 2267//11425 
-f 2280//11430 2279//11429 2267//11428 
-f 2267//11433 2281//11432 2280//11431 
-f 2266//11436 2284//11435 2283//11434 
-f 2259//11439 2286//11438 2285//11437 
-f 2287//11442 2286//11441 2259//11440 
-f 2288//11445 2287//11444 2259//11443 
-f 2259//11448 2289//11447 2288//11446 
-f 2258//11451 2292//11450 2291//11449 
-f 2293//11454 2292//11453 2258//11452 
-f 2276//11457 2293//11456 2258//11455 
-f 2272//11460 2296//11459 2295//11458 
-f 2297//11463 2296//11462 2272//11461 
-f 2271//11466 2300//11465 2299//11464 
-f 2301//11469 2300//11468 2271//11467 
-f 2302//11472 2301//11471 2271//11470 
-f 2254//11475 2304//11474 2303//11473 
-f 2305//11478 2304//11477 2254//11476 
-f 2306//11481 2305//11480 2254//11479 
-f 2254//11484 2307//11483 2306//11482 
-f 2308//11487 2307//11486 2254//11485 
-f 2253//11490 2311//11489 2310//11488 
-f 2294//11493 2311//11492 2253//11491 
-f 2312//11496 2274//11495 2275//11494 
-f 2324//11499 2274//11498 2312//11497 
-f 2323//11502 2274//11501 2324//11500 
-f 2273//11505 2274//11504 2323//11503 
-f 2322//11508 2273//11507 2323//11506 
-f 2272//11511 2273//11510 2322//11509 
-f 2321//11514 2272//11513 2322//11512 
-f 2271//11517 2272//11516 2321//11515 
-f 2320//11520 2271//11519 2321//11518 
-f 2270//11523 2271//11522 2320//11521 
-f 2319//11526 2270//11525 2320//11524 
-f 2269//11529 2270//11528 2319//11527 
-f 2318//11532 2269//11531 2319//11530 
-f 2268//11535 2269//11534 2318//11533 
-f 2267//11538 2268//11537 2318//11536 
-f 2317//11541 2267//11540 2318//11539 
-f 2266//11544 2267//11543 2317//11542 
-f 2316//11547 2266//11546 2317//11545 
-f 2265//11550 2266//11549 2316//11548 
-f 2315//11553 2265//11552 2316//11551 
-f 2264//11556 2265//11555 2315//11554 
-f 2314//11559 2264//11558 2315//11557 
-f 2263//11562 2264//11561 2314//11560 
-f 2313//11565 2263//11564 2314//11563 
-f 2326//11568 2303//11567 2325//11566 
-f 2302//11571 2303//11570 2326//11569 
-f 2334//11574 2302//11573 2326//11572 
-f 2301//11577 2302//11576 2334//11575 
-f 2333//11580 2301//11579 2334//11578 
-f 2300//11583 2301//11582 2333//11581 
-f 2332//11586 2300//11585 2333//11584 
-f 2299//11589 2300//11588 2332//11587 
-f 2331//11592 2299//11591 2332//11590 
-f 2298//11595 2299//11594 2331//11593 
-f 2297//11598 2298//11597 2331//11596 
-f 2330//11601 2297//11600 2331//11599 
-f 2296//11604 2297//11603 2330//11602 
-f 2329//11607 2296//11606 2330//11605 
-f 2295//11610 2296//11609 2329//11608 
-f 2328//11613 2295//11612 2329//11611 
-f 2294//11616 2295//11615 2328//11614 
-f 2327//11619 2294//11618 2328//11617 
-f 2335//11622 2294//11621 2327//11620 
-f 2311//11625 2294//11624 2335//11623 
-f 2342//11628 2311//11627 2335//11626 
-f 2310//11631 2311//11630 2342//11629 
-f 2341//11634 2310//11633 2342//11632 
-f 2309//11637 2310//11636 2341//11635 
-f 2340//11640 2309//11639 2341//11638 
-f 2308//11643 2309//11642 2340//11641 
-f 2339//11646 2308//11645 2340//11644 
-f 2307//11649 2308//11648 2339//11647 
-f 2306//11652 2307//11651 2339//11650 
-f 2338//11655 2306//11654 2339//11653 
-f 2305//11658 2306//11657 2338//11656 
-f 2337//11661 2305//11660 2338//11659 
-f 2304//11664 2305//11663 2337//11662 
-f 2336//11667 2304//11666 2337//11665 
-f 2303//11670 2304//11669 2336//11668 
-f 2325//11673 2303//11672 2336//11671 
-f 2344//11676 2285//11675 2343//11674 
-f 2284//11679 2285//11678 2344//11677 
-f 2352//11682 2284//11681 2344//11680 
-f 2283//11685 2284//11684 2352//11683 
-f 2351//11688 2283//11687 2352//11686 
-f 2282//11691 2283//11690 2351//11689 
-f 2350//11694 2282//11693 2351//11692 
-f 2281//11697 2282//11696 2350//11695 
-f 2349//11700 2281//11699 2350//11698 
-f 2280//11703 2281//11702 2349//11701 
-f 2279//11706 2280//11705 2349//11704 
-f 2348//11709 2279//11708 2349//11707 
-f 2278//11712 2279//11711 2348//11710 
-f 2347//11715 2278//11714 2348//11713 
-f 2277//11718 2278//11717 2347//11716 
-f 2346//11721 2277//11720 2347//11719 
-f 2276//11724 2277//11723 2346//11722 
-f 2345//11727 2276//11726 2346//11725 
-f 2353//11730 2276//11729 2345//11728 
-f 2293//11733 2276//11732 2353//11731 
-f 2360//11736 2293//11735 2353//11734 
-f 2292//11739 2293//11738 2360//11737 
-f 2359//11742 2292//11741 2360//11740 
-f 2291//11745 2292//11744 2359//11743 
-f 2358//11748 2291//11747 2359//11746 
-f 2290//11751 2291//11750 2358//11749 
-f 2357//11754 2290//11753 2358//11752 
-f 2289//11757 2290//11756 2357//11755 
-f 2288//11760 2289//11759 2357//11758 
-f 2356//11763 2288//11762 2357//11761 
-f 2287//11766 2288//11765 2356//11764 
-f 2355//11769 2287//11768 2356//11767 
-f 2286//11772 2287//11771 2355//11770 
-f 2354//11775 2286//11774 2355//11773 
-f 2285//11778 2286//11777 2354//11776 
-f 2343//11781 2285//11780 2354//11779 
+f 2275//11304 2251//11303 2250//11302
+f 2274//11307 2251//11306 2275//11305
+f 2252//11310 2251//11309 2274//11308
+f 2273//11313 2252//11312 2274//11311
+f 2253//11316 2252//11315 2273//11314
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+f 2294//11322 2253//11321 2272//11320
+f 2295//11325 2294//11324 2272//11323
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+f 2309//11331 2308//11330 2253//11329
+f 2310//11334 2309//11333 2253//11332
+f 2254//11337 2271//11336 2255//11335
+f 2302//11340 2271//11339 2254//11338
+f 2303//11343 2302//11342 2254//11341
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+f 2256//11349 2255//11348 2270//11347
+f 2269//11352 2256//11351 2270//11350
+f 2257//11355 2256//11354 2269//11353
+f 2268//11358 2257//11357 2269//11356
+f 2258//11361 2257//11360 2268//11359
+f 2267//11364 2258//11363 2268//11362
+f 2276//11367 2258//11366 2267//11365
+f 2277//11370 2276//11369 2267//11368
+f 2258//11373 2289//11372 2259//11371
+f 2290//11376 2289//11375 2258//11374
+f 2291//11379 2290//11378 2258//11377
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+f 2285//11388 2284//11387 2259//11386
+f 2265//11391 2260//11390 2266//11389
+f 2261//11394 2260//11393 2265//11392
+f 2264//11397 2261//11396 2265//11395
+f 2262//11400 2261//11399 2264//11398
+f 2263//11403 2262//11402 2264//11401
+f 2266//11406 2281//11405 2267//11404
+f 2282//11409 2281//11408 2266//11407
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+f 2280//11430 2279//11429 2267//11428
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+f 2306//11481 2305//11480 2254//11479
+f 2254//11484 2307//11483 2306//11482
+f 2308//11487 2307//11486 2254//11485
+f 2253//11490 2311//11489 2310//11488
+f 2294//11493 2311//11492 2253//11491
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+f 2324//11499 2274//11498 2312//11497
+f 2323//11502 2274//11501 2324//11500
+f 2273//11505 2274//11504 2323//11503
+f 2322//11508 2273//11507 2323//11506
+f 2272//11511 2273//11510 2322//11509
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+f 2268//11535 2269//11534 2318//11533
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+f 2315//11553 2265//11552 2316//11551
+f 2264//11556 2265//11555 2315//11554
+f 2314//11559 2264//11558 2315//11557
+f 2263//11562 2264//11561 2314//11560
+f 2313//11565 2263//11564 2314//11563
+f 2326//11568 2303//11567 2325//11566
+f 2302//11571 2303//11570 2326//11569
+f 2334//11574 2302//11573 2326//11572
+f 2301//11577 2302//11576 2334//11575
+f 2333//11580 2301//11579 2334//11578
+f 2300//11583 2301//11582 2333//11581
+f 2332//11586 2300//11585 2333//11584
+f 2299//11589 2300//11588 2332//11587
+f 2331//11592 2299//11591 2332//11590
+f 2298//11595 2299//11594 2331//11593
+f 2297//11598 2298//11597 2331//11596
+f 2330//11601 2297//11600 2331//11599
+f 2296//11604 2297//11603 2330//11602
+f 2329//11607 2296//11606 2330//11605
+f 2295//11610 2296//11609 2329//11608
+f 2328//11613 2295//11612 2329//11611
+f 2294//11616 2295//11615 2328//11614
+f 2327//11619 2294//11618 2328//11617
+f 2335//11622 2294//11621 2327//11620
+f 2311//11625 2294//11624 2335//11623
+f 2342//11628 2311//11627 2335//11626
+f 2310//11631 2311//11630 2342//11629
+f 2341//11634 2310//11633 2342//11632
+f 2309//11637 2310//11636 2341//11635
+f 2340//11640 2309//11639 2341//11638
+f 2308//11643 2309//11642 2340//11641
+f 2339//11646 2308//11645 2340//11644
+f 2307//11649 2308//11648 2339//11647
+f 2306//11652 2307//11651 2339//11650
+f 2338//11655 2306//11654 2339//11653
+f 2305//11658 2306//11657 2338//11656
+f 2337//11661 2305//11660 2338//11659
+f 2304//11664 2305//11663 2337//11662
+f 2336//11667 2304//11666 2337//11665
+f 2303//11670 2304//11669 2336//11668
+f 2325//11673 2303//11672 2336//11671
+f 2344//11676 2285//11675 2343//11674
+f 2284//11679 2285//11678 2344//11677
+f 2352//11682 2284//11681 2344//11680
+f 2283//11685 2284//11684 2352//11683
+f 2351//11688 2283//11687 2352//11686
+f 2282//11691 2283//11690 2351//11689
+f 2350//11694 2282//11693 2351//11692
+f 2281//11697 2282//11696 2350//11695
+f 2349//11700 2281//11699 2350//11698
+f 2280//11703 2281//11702 2349//11701
+f 2279//11706 2280//11705 2349//11704
+f 2348//11709 2279//11708 2349//11707
+f 2278//11712 2279//11711 2348//11710
+f 2347//11715 2278//11714 2348//11713
+f 2277//11718 2278//11717 2347//11716
+f 2346//11721 2277//11720 2347//11719
+f 2276//11724 2277//11723 2346//11722
+f 2345//11727 2276//11726 2346//11725
+f 2353//11730 2276//11729 2345//11728
+f 2293//11733 2276//11732 2353//11731
+f 2360//11736 2293//11735 2353//11734
+f 2292//11739 2293//11738 2360//11737
+f 2359//11742 2292//11741 2360//11740
+f 2291//11745 2292//11744 2359//11743
+f 2358//11748 2291//11747 2359//11746
+f 2290//11751 2291//11750 2358//11749
+f 2357//11754 2290//11753 2358//11752
+f 2289//11757 2290//11756 2357//11755
+f 2288//11760 2289//11759 2357//11758
+f 2356//11763 2288//11762 2357//11761
+f 2287//11766 2288//11765 2356//11764
+f 2355//11769 2287//11768 2356//11767
+f 2286//11772 2287//11771 2355//11770
+f 2354//11775 2286//11774 2355//11773
+f 2285//11778 2286//11777 2354//11776
+f 2343//11781 2285//11780 2354//11779
 # 0 polygons - 160 triangles
 
 #
@@ -22232,1121 +22232,1121 @@ o Body1_6
 g Body1_6
 usemtl Opaque_157_207_237_
 s 1
-f 2365//11784 2362//11783 2361//11782 
-f 2364//11787 2362//11786 2365//11785 
-f 2363//11790 2362//11789 2364//11788 
-f 2366//11793 2368//11792 2367//11791 
-f 2373//11796 2368//11795 2366//11794 
-f 2369//11799 2368//11798 2373//11797 
-f 2371//11802 2369//11801 2373//11800 
-f 2370//11805 2369//11804 2371//11803 
-f 2373//11808 2372//11807 2371//11806 
-f 2362//11811 2366//11810 2367//11809 
-f 2374//11814 2366//11813 2362//11812 
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 # 0 polygons - 106 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftWristRollLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftWristRollLink.obj
index f77763c..f228c79 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftWristRollLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftWristRollLink.obj
@@ -8806,2472 +8806,2472 @@ o N17_24_P04_01_L_Motor_housing_wrist_twist
 g N17_24_P04_01_L_Motor_housing_wrist_twist
 usemtl wire_159170179
 s 1
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-f 2410//11760 2413//11759 2411//11758 
-f 2119//11763 2218//11762 2348//11761 
-f 2185//11766 2215//11765 2217//11764 
-f 2144//11769 2202//11768 2002//11767 
-f 2144//11772 2145//11771 2414//11770 
-f 2166//11775 2117//11774 2190//11773 
-f 2272//11778 2271//11777 2214//11776 
-f 2388//11781 2390//11780 2389//11779 
-f 2415//11784 2375//11783 2279//11782 
-f 2316//11787 2416//11786 2417//11785 
-f 2210//11790 2418//11789 2419//11788 
-f 2263//11793 2115//11792 2264//11791 
-f 2420//11796 2264//11795 2115//11794 
-f 2421//11799 2290//11798 2292//11797 
-f 2422//11802 2125//11801 2423//11800 
-f 1938//11805 2424//11804 2382//11803 
-f 2171//11808 2425//11807 2426//11806 
-f 1902//11811 1896//11810 2110//11809 
-f 2307//11814 2306//11813 2161//11812 
-f 2427//11817 2428//11816 2429//11815 
-f 2430//11820 2271//11819 2358//11818 
-f 2431//11823 2150//11822 2299//11821 
-f 2432//11826 2299//11825 2235//11824 
-f 2433//11829 2434//11828 2435//11827 
-f 2127//11832 2318//11831 2317//11830 
-f 2241//11835 2291//11834 2436//11833 
-f 2245//11838 2397//11837 2437//11836 
-f 2107//11841 2108//11840 2113//11839 
-f 2217//11844 2216//11843 2283//11842 
-f 2274//11847 2438//11846 2174//11845 
-f 2346//11850 2281//11849 2347//11848 
-f 2439//11853 2168//11852 2386//11851 
-f 2440//11856 2240//11855 2236//11854 
-f 2247//11859 2441//11858 2248//11857 
-f 2333//11862 2442//11861 2441//11860 
-f 2070//11865 2074//11864 2068//11863 
-f 2324//11868 2443//11867 2070//11866 
-f 1866//11871 2444//11870 2407//11869 
-f 1864//11874 1862//11873 2444//11872 
-f 2352//11877 2122//11876 2445//11875 
-f 2212//11880 2418//11879 2210//11878 
-f 2143//11883 2142//11882 2381//11881 
-f 2390//11886 2143//11885 2381//11884 
-f 2446//11889 2349//11888 2447//11887 
-f 2447//11892 2448//11891 2449//11890 
-f 2189//11895 2188//11894 2359//11893 
-f 1965//11898 1963//11897 2077//11896 
-f 2450//11901 2451//11900 1978//11899 
-f 2452//11904 2340//11903 2339//11902 
-f 2414//11907 2202//11906 2144//11905 
-f 2238//11910 2440//11909 2236//11908 
-f 2117//11913 2069//11912 2079//11911 
-f 2190//11916 2117//11915 2453//11914 
-f 2121//11919 2024//11918 2023//11917 
-f 2207//11922 2227//11921 2208//11920 
-f 2399//11925 2206//11924 2208//11923 
-f 2454//11928 2203//11927 2455//11926 
-f 2331//11931 2456//11930 2046//11929 
-f 2456//11934 2254//11933 2046//11932 
-f 1977//11937 2457//11936 2229//11935 
-f 2451//11940 2457//11939 1977//11938 
-f 2175//11943 2282//11942 2370//11941 
-f 2256//11946 2366//11945 2255//11944 
-f 2139//11949 2138//11948 2082//11947 
-f 2080//11952 2082//11951 2138//11950 
-f 2280//11955 2347//11954 2281//11953 
-f 2129//11958 2337//11957 2280//11956 
-f 2032//11961 2458//11960 2341//11959 
-f 2032//11964 2121//11963 2458//11962 
-f 2171//11967 2426//11966 2169//11965 
-f 2454//11970 2455//11969 2426//11968 
-f 2273//11973 2438//11972 2274//11971 
-f 2403//11976 2163//11975 2459//11974 
-f 2199//11979 2198//11978 2460//11977 
-f 2266//11982 2461//11981 2267//11980 
-f 2180//11985 2179//11984 2363//11983 
-f 2363//11988 2364//11987 2180//11986 
-f 2262//11991 2247//11990 2246//11989 
-f 2462//11994 2463//11993 2221//11992 
-f 2169//11997 2464//11996 2170//11995 
-f 2433//12000 2465//11999 2434//11998 
-f 2139//12003 2082//12002 2000//12001 
-f 2466//12006 2461//12005 2266//12004 
-f 2467//12009 2154//12008 2181//12007 
-f 2365//12012 2367//12011 2468//12010 
-f 2406//12015 2407//12014 2469//12013 
-f 2329//12018 2469//12017 2407//12016 
-f 1927//12021 1922//12020 2295//12019 
-f 2251//12024 2250//12023 2470//12022 
-f 2374//12027 2275//12026 2375//12025 
-f 2471//12030 2237//12029 2200//12028 
-f 2437//12033 2397//12032 1907//12031 
-f 2398//12036 2262//12035 2261//12034 
-f 2194//12039 2385//12038 2253//12037 
-f 2048//12042 2050//12041 2049//12040 
-f 2419//12045 2209//12044 2155//12043 
-f 2413//12048 2314//12047 2411//12046 
-f 2379//12051 2472//12050 2473//12049 
-f 1882//12054 2395//12053 2473//12052 
-f 2417//12057 2317//12056 2316//12055 
-f 2423//12060 2125//12059 2177//12058 
-f 2037//12063 2034//12062 2474//12061 
-f 2090//12066 2332//12065 2088//12064 
-f 2225//12069 1977//12068 2475//12067 
-f 2226//12072 2225//12071 2475//12070 
-f 2476//12075 1967//12074 1968//12073 
-f 2476//12078 1968//12077 2140//12076 
-f 2011//12081 2002//12080 2014//12079 
-f 2202//12084 2201//12083 2002//12082 
-f 2477//12087 2164//12086 2213//12085 
-f 2478//12090 2190//12089 2272//12088 
-f 2129//12093 2335//12092 2337//12091 
-f 2109//12096 2479//12095 2259//12094 
-f 2480//12099 2378//12098 2368//12097 
-f 2131//12102 2481//12101 2368//12100 
-f 2278//12105 2415//12104 2279//12103 
-f 2372//12108 2482//12107 2373//12106 
-f 2210//12111 2318//12110 2211//12109 
-f 2483//12114 2298//12113 2363//12112 
-f 2302//12117 2484//12116 2182//12115 
-f 2189//12120 2302//12119 2187//12118 
-f 2485//12123 2405//12122 2404//12121 
-f 2287//12126 2485//12125 2404//12124 
-f 2486//12129 2487//12128 2488//12127 
-f 2195//12132 2486//12131 2488//12130 
-f 2321//12135 2420//12134 2115//12133 
-f 2253//12138 2420//12137 2321//12136 
-f 2486//12141 2489//12140 2112//12139 
-f 2490//12144 2112//12143 2489//12142 
-f 2325//12147 2324//12146 2491//12145 
-f 2324//12150 2178//12149 2380//12148 
-f 2343//12153 2346//12152 2344//12151 
-f 2219//12156 2274//12155 2343//12154 
-f 2422//12159 2410//12158 2412//12157 
-f 2351//12162 2350//12161 2421//12160 
-f 2492//12165 2493//12164 2355//12163 
-f 2492//12168 2217//12167 2107//12166 
-f 2052//12171 2056//12170 2055//12169 
-f 2494//12174 2285//12173 2328//12172 
-f 2495//12177 2227//12176 2207//12175 
-f 2496//12180 2227//12179 2495//12178 
-f 2269//12183 2497//12182 2189//12181 
-f 2136//12186 2135//12185 2497//12184 
-f 2362//12189 2367//12188 2365//12187 
-f 2165//12192 2173//12191 2172//12190 
-f 2151//12195 2150//12194 2498//12193 
-f 2399//12198 2400//12197 2204//12196 
-f 2421//12201 2350//12200 2290//12199 
-f 2447//12204 2244//12203 2446//12202 
-f 2284//12207 2336//12206 2335//12205 
-f 2342//12210 2344//12209 2216//12208 
-f 2324//12213 2257//12212 2443//12211 
-f 2074//12216 2496//12215 2076//12214 
-f 2110//12219 1896//12218 2307//12217 
-f 1896//12222 2278//12221 2307//12220 
-f 2378//12225 2377//12224 2132//12223 
-f 2473//12228 2395//12227 2379//12226 
-f 2314//12231 2157//12230 2315//12229 
-f 2429//12234 2219//12233 2218//12232 
-f 2499//12237 2181//12236 2255//12235 
-f 2467//12240 2181//12239 2500//12238 
-f 2493//12243 2356//12242 2355//12241 
-f 2448//12246 2186//12245 2449//12244 
-f 2109//12249 2259//12248 2258//12247 
-f 2158//12252 2111//12251 2071//12250 
-f 2326//12255 2122//12254 2352//12253 
-f 2326//12258 2123//12257 2122//12256 
-f 2452//12261 1973//12260 2340//12259 
-f 2085//12264 1973//12263 1972//12262 
-f 2183//12267 2182//12266 2484//12265 
-f 2376//12270 2378//12269 2480//12268 
-f 2100//12273 2330//12272 2329//12271 
-f 2098//12276 2100//12275 2329//12274 
-f 2461//12279 2198//12278 2267//12277 
-f 2472//12282 2379//12281 2303//12280 
-f 2450//12285 2294//12284 2451//12283 
-f 2297//12288 2457//12287 2451//12286 
-f 2374//12291 2373//12290 2482//12289 
-f 2106//12294 2305//12293 2197//12292 
-f 2159//12297 2319//12296 2160//12295 
-f 2501//12300 2319//12299 2159//12298 
-f 2462//12303 2331//12302 2463//12301 
-f 2398//12306 2331//12305 2262//12304 
-f 2095//12309 2409//12308 2092//12307 
-f 2092//12312 2094//12311 2095//12310 
-f 2148//12315 2147//12314 2382//12313 
-f 2502//12318 2382//12317 2470//12316 
-f 2270//12321 2163//12320 2403//12319 
-f 2213//12324 2163//12323 2270//12322 
-f 2190//12327 2453//12326 2191//12325 
-f 2503//12330 2504//12329 2191//12328 
-f 2154//12333 2188//12332 2505//12331 
-f 2181//12336 2154//12335 2505//12334 
-f 2439//12339 2386//12338 2240//12337 
-f 2240//12342 2231//12341 2439//12340 
-f 2123//12345 2166//12344 2214//12343 
-f 2272//12348 2214//12347 2478//12346 
-f 2435//12351 2434//12350 2298//12349 
-f 2483//12354 2435//12353 2298//12352 
-f 1865//12357 1864//12356 1866//12355 
-f 1864//12360 2444//12359 1866//12358 
-f 2041//12363 2037//12362 2222//12361 
-f 2223//12366 2222//12365 2334//12364 
-f 2239//12369 2471//12368 2414//12367 
-f 2414//12372 2145//12371 2239//12370 
-f 2426//12375 2455//12374 2233//12373 
-f 2234//12378 2233//12377 2310//12376 
-f 2251//12381 2470//12380 2424//12379 
-f 2382//12384 2424//12383 2470//12382 
-f 2504//12387 2269//12386 2191//12385 
-f 2504//12390 1963//12389 2269//12388 
-f 2396//12393 2128//12392 2130//12391 
-f 2131//12396 2133//12395 2481//12394 
-f 2166//12399 2123//12398 2167//12397 
-f 2325//12402 2167//12401 2123//12400 
-f 2048//12405 2506//12404 2050//12403 
-f 2322//12408 2385//12407 2323//12406 
-f 2357//12411 2124//12410 2430//12409 
-f 2156//12414 2427//12413 2157//12412 
-f 2128//12417 2507//12416 2258//12415 
-f 2507//12420 2128//12419 2394//12418 
-f 2279//12423 2388//12422 2389//12421 
-f 2381//12426 2279//12425 2389//12424 
-f 2508//12429 2244//12428 2245//12427 
-f 2508//12432 2446//12431 2244//12430 
-f 2210//12435 2419//12434 2316//12433 
-f 2316//12438 2318//12437 2210//12436 
-f 2414//12441 2471//12440 2202//12439 
-f 2471//12444 2200//12443 2202//12442 
-f 2203//12447 2399//12446 2204//12445 
-f 2399//12450 2509//12449 2206//12448 
-f 2084//12453 2510//12452 2249//12451 
-f 2510//12456 2029//12455 2032//12454 
-f 2073//12459 2072//12458 2107//12457 
-f 2107//12462 2217//12461 2283//12460 
-f 2343//12465 2274//12464 2346//12463 
-f 2346//12468 2274//12467 2174//12466 
-f 2324//12471 2380//12470 2511//12469 
-f 2151//12474 2498//12473 2228//12472 
-f 2184//12477 2493//12476 2492//12475 
-f 2114//12480 2449//12479 2184//12478 
-f 2292//12483 2291//12482 2241//12481 
-f 2125//12486 2241//12485 2126//12484 
-f 2311//12489 2313//12488 2252//12487 
-f 2252//12492 2294//12491 2450//12490 
-f 2316//12495 2419//12494 2416//12493 
-f 2419//12498 2155//12497 2413//12496 
-f 1896//12501 2372//12500 2278//12499 
-f 2372//12504 2415//12503 2278//12502 
-f 2192//12507 2164//12506 2477//12505 
-f 2360//12510 2192//12509 2512//12508 
-f 2281//12513 2174//12512 2256//12511 
-f 2174//12516 2281//12515 2346//12514 
-f 2367//12519 2361//12518 2153//12517 
-f 2188//12522 2512//12521 2192//12520 
-f 2235//12525 2464//12524 2233//12523 
-f 2298//12528 2434//12527 2235//12526 
-f 1941//12531 1938//12530 2384//12529 
-f 2382//12534 2384//12533 1938//12532 
-f 2240//12537 2386//12536 2513//12535 
-f 2514//12540 2386//12539 2237//12538 
-f 2107//12543 2113//12542 2492//12541 
-f 2492//12546 2113//12545 2184//12544 
-f 1910//12549 2246//12548 2248//12547 
-f 1907//12552 2246//12551 1910//12550 
-f 2137//12555 2476//12554 2140//12553 
-f 2134//12558 2136//12557 2137//12556 
-f 2494//12561 2328//12560 2052//12559 
-f 2193//12564 2286//12563 2289//12562 
-f 2418//12567 2209//12566 2419//12565 
-f 2445//12570 2122//12569 2354//12568 
-f 2429//12573 2428//12572 2219//12571 
-f 2428//12576 2273//12575 2219//12574 
-f 2080//12579 2138//12578 2140//12577 
-f 2140//12582 2138//12581 2137//12580 
-f 2126//12585 2301//12584 2300//12583 
-f 2243//12588 2383//12587 2126//12586 
-f 2473//12591 1886//12590 1882//12589 
-f 2198//12594 2305//12593 2515//12592 
-f 2276//12597 2374//12596 2516//12595 
-f 2276//12600 2275//12599 2374//12598 
-f 2076//12603 2496//12602 2495//12601 
-f 2026//12606 2076//12605 2495//12604 
-f 2369//12609 2368//12608 2371//12607 
-f 2368//12612 2481//12611 2176//12610 
-f 2517//12615 2309//12614 2308//12613 
-f 2059//12618 2061//12617 2060//12616 
-f 2109//12621 2071//12620 2066//12619 
-f 2258//12624 2071//12623 2109//12622 
-f 2437//12627 1907//12626 1941//12625 
-f 1941//12630 2384//12629 2242//12628 
-f 2441//12633 2223//12632 2333//12631 
-f 2247//12636 2518//12635 2441//12634 
-f 2519//12639 2158//12638 2071//12637 
-f 2519//12642 2260//12641 2158//12640 
-f 2520//12645 2130//12644 2176//12643 
-f 2520//12648 2396//12647 2130//12646 
-f 2171//12651 2170//12650 2148//12649 
-f 2425//12654 2171//12653 2502//12652 
-f 2495//12657 2207//12656 2121//12655 
-f 2206//12660 2391//12659 2207//12658 
-f 2328//12663 2327//12662 2230//12661 
-f 2327//12666 2308//12665 2230//12664 
-f 2381//12669 2277//12668 2279//12667 
-f 2381//12672 2162//12671 2306//12670 
-f 2376//12675 2379//12674 2377//12673 
-f 2395//12678 2377//12677 2379//12676 
-f 2266//12681 2137//12680 2521//12679 
-f 2522//12684 2266//12683 2521//12682 
-f 2226//12687 2475//12686 2229//12685 
-f 2475//12690 1977//12689 2229//12688 
-f 2470//12693 2250//12692 2426//12691 
-f 2313//12696 2454//12695 2426//12694 
-f 2315//12699 2218//12698 2119//12697 
-f 2315//12702 2429//12701 2218//12700 
-f 2199//12705 2460//12704 2014//12703 
-f 2014//12708 2002//12707 2201//12706 
-f 2255//12711 2370//12710 2282//12709 
-f 2369//12714 2255//12713 2183//12712 
-f 2349//12717 2448//12716 2447//12715 
-f 2293//12720 2120//12719 2349//12718 
-f 1878//12723 2110//12722 2260//12721 
-f 2394//12726 1878//12725 2260//12724 
-f 2462//12729 2221//12728 2247//12727 
-f 2247//12732 2221//12731 2518//12730 
-f 2411//12735 2314//12734 2118//12733 
-f 2411//12738 2118//12737 2293//12736 
-f 2124//12741 2271//12740 2430//12739 
-f 2124//12744 2214//12743 2271//12742 
-f 2272//12747 2190//12746 2213//12745 
-f 2272//12750 2213//12749 2270//12748 
-f 1889//12753 2106//12752 2372//12751 
-f 1889//12756 1888//12755 2106//12754 
-f 2295//12759 2424//12758 1927//12757 
-f 1938//12762 1927//12761 2424//12760 
-f 2044//12765 2046//12764 2045//12763 
-f 2463//12768 2331//12767 2046//12766 
-f 2523//12771 2322//12770 2254//12769 
-f 2523//12774 2254//12773 2265//12772 
-f 2417//12777 2423//12776 2317//12775 
-f 2423//12780 2410//12779 2422//12778 
-f 2348//12783 2220//12782 2342//12781 
-f 2215//12786 2342//12785 2216//12784 
-f 2345//12789 2347//12788 2336//12787 
-f 2344//12792 2336//12791 2284//12790 
-f 2284//12795 2335//12794 2065//12793 
-f 2259//12798 2479//12797 2335//12796 
-f 2363//12801 2232//12800 2483//12799 
-f 2363//12804 2179//12803 2353//12802 
-f 2282//12807 2281//12806 2256//12805 
-f 2256//12810 2255//12809 2282//12808 
-f 2447//12813 2449//12812 2114//12811 
-f 2114//12816 2244//12815 2447//12814 
-f 2302//12819 2134//12818 2266//12817 
-f 2134//12822 2302//12821 2135//12820 
-f 2255//12825 2366//12824 2499//12823 
-f 2468//12828 2152//12827 2500//12826 
-f 2234//12831 2432//12830 2235//12829 
-f 2524//12834 2431//12833 2205//12832 
-f 2509//12837 2454//12836 2206//12835 
-f 2312//12840 2454//12839 2313//12838 
-f 2341//12843 2458//12842 2393//12841 
-f 2393//12846 2392//12845 2312//12844 
-f 2237//12849 2388//12848 2525//12847 
-f 2237//12852 2386//12851 2388//12850 
-f 2159//12855 2110//12854 2501//12853 
-f 2158//12858 2110//12857 2159//12856 
-f 2222//12861 2037//12860 2526//12859 
-f 2526//12864 2037//12863 2474//12862 
-f 2000//12867 1999//12866 2005//12865 
-f 2522//12870 2005//12869 2266//12868 
-f 2184//12873 2449//12872 2493//12871 
-f 2449//12876 2186//12875 2493//12874 
-f 2199//12879 2201//12878 2275//12877 
-f 2014//12882 2201//12881 2199//12880 
-f 2438//12885 2172//12884 2174//12883 
-f 2459//12888 2163//12887 2172//12886 
-f 2311//12891 2252//12890 2450//12889 
-f 2450//12894 1978//12893 2311//12892 
-f 2527//12897 2333//12896 2409//12895 
-f 2527//12900 2442//12899 2333//12898 
-f 2488//12903 2487//12902 2287//12901 
-f 2487//12906 2485//12905 2287//12904 
-f 2325//12909 2179//12908 2178//12907 
-f 2324//12912 2325//12911 2178//12910 
-f 2332//12915 2334//12914 2474//12913 
-f 2088//12918 2332//12917 2474//12916 
-f 2249//12921 2341//12920 2340//12919 
-f 2085//12924 2083//12923 2249//12922 
-f 2194//12927 2193//12926 2288//12925 
-f 2506//12930 2194//12929 2288//12928 
-f 2326//12933 2179//12932 2325//12931 
-f 2326//12936 2353//12935 2179//12934 
-f 2490//12939 2253//12938 2321//12937 
-f 2195//12942 2253//12941 2490//12940 
-f 2394//12945 1882//12944 1878//12943 
-f 2395//12948 1882//12947 2394//12946 
-f 2515//12951 2472//12950 2198//12949 
-f 2198//12954 2472//12953 2267//12952 
-f 2155//12957 2157//12956 2314//12955 
-f 2413//12960 2155//12959 2314//12958 
-f 1963//12963 2497//12962 2269//12961 
-f 1962//12966 2497//12965 1963//12964 
-f 2331//12969 2462//12968 2262//12967 
-f 2262//12972 2462//12971 2247//12970 
-f 2294//12975 2251//12974 2295//12973 
-f 2251//12978 2424//12977 2295//12976 
-f 2352//12981 2445//12980 2212//12979 
-f 2212//12984 2232//12983 2352//12982 
-f 2428//12987 2403//12986 2273//12985 
-f 2403//12990 2459//12989 2273//12988 
-f 2517//12993 2100//12992 2103//12991 
-f 2061//12996 2059//12995 2517//12994 
-f 2484//12999 2376//12998 2480//12997 
-f 2379//13002 2376//13001 2304//13000 
-f 2074//13005 2528//13004 2496//13003 
-f 2070//13008 2528//13007 2074//13006 
-f 2457//13011 2296//13010 2229//13009 
-f 2297//13014 2296//13013 2457//13012 
-f 2233//13017 2464//13016 2169//13015 
-f 2169//13020 2426//13019 2233//13018 
-f 2238//13023 2237//13022 2471//13021 
-f 2238//13026 2471//13025 2440//13024 
-f 2259//13029 2335//13028 2129//13027 
-f 2259//13032 2129//13031 2128//13030 
-f 2157//13035 2429//13034 2315//13033 
-f 2157//13038 2427//13037 2429//13036 
-f 2524//13041 2204//13040 2401//13039 
-f 2205//13044 2204//13043 2524//13042 
-f 2529//13047 2263//13046 2398//13045 
-f 2529//13050 2115//13049 2263//13048 
-f 2305//13053 1886//13052 2515//13051 
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 # 0 polygons - 1345 triangles
 
 #
@@ -24158,799 +24158,798 @@ o N17_24_P03_09_L_Wrist_Link_Cover_Outside
 g N17_24_P03_09_L_Wrist_Link_Cover_Outside
 usemtl Material__137
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 # 0 polygons - 794 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/LeftWristYawLink.obj b/robots/alex_description/meshes/cycloidal_arm/LeftWristYawLink.obj
index 4f6d135..833c079 100755
--- a/robots/alex_description/meshes/cycloidal_arm/LeftWristYawLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/LeftWristYawLink.obj
@@ -395,114 +395,114 @@ o N17_24_P02_01_L_Forearm_Outside_structure
 g N17_24_P02_01_L_Forearm_Outside_structure
 usemtl Material__38
 s 1
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 # 0 polygons - 108 triangles
 
 #
@@ -1468,277 +1468,277 @@ o N17_24_P02_05_L_Forearm_Inside_structure_lid
 g N17_24_P02_05_L_Forearm_Inside_structure_lid
 usemtl Material__39
 s 1
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 # 0 polygons - 271 triangles
 
 #
@@ -3491,484 +3491,484 @@ o N17_24_P02_06_L_Forearm_Inside_structure
 g N17_24_P02_06_L_Forearm_Inside_structure
 usemtl Material__40
 s 1
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+f 213//1512 388//1511 348//1510
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+f 276//1521 277//1520 209//1519
+f 316//1524 365//1523 363//1522
+f 211//1527 261//1526 277//1525
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+f 234//1533 279//1532 482//1531
+f 234//1536 281//1535 279//1534
+f 314//1539 345//1538 274//1537
+f 207//1542 407//1541 345//1540
+f 279//1545 281//1544 197//1543
+f 281//1548 206//1547 197//1546
+f 368//1551 335//1550 372//1549
+f 282//1554 252//1553 198//1552
+f 217//1557 283//1556 252//1555
+f 217//1560 268//1559 283//1558
+f 334//1563 284//1562 323//1561
+f 284//1566 383//1565 196//1564
+f 261//1569 342//1568 402//1567
+f 310//1572 285//1571 246//1570
+f 482//1575 371//1574 286//1573
+f 373//1578 286//1577 371//1576
+f 213//1581 224//1580 287//1579
+f 287//1584 388//1583 213//1582
+f 229//1587 288//1586 205//1585
+f 218//1590 289//1589 366//1588
+f 222//1593 366//1592 289//1591
+f 290//1596 228//1595 220//1594
+f 220//1599 232//1598 290//1597
+f 308//1602 353//1601 291//1600
+f 238//1605 271//1604 356//1603
+f 482//1608 225//1607 292//1606
+f 225//1611 245//1610 292//1609
+f 293//1614 375//1613 199//1612
+f 267//1617 293//1616 199//1615
+f 220//1620 294//1619 232//1618
+f 201//1623 232//1622 294//1621
+f 493//1626 295//1625 218//1624
+f 295//1629 380//1628 218//1627
+f 253//1632 344//1631 394//1630
+f 321//1635 253//1634 296//1633
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+f 299//1644 380//1643 295//1642
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+f 305//1659 304//1658 319//1657
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+f 231//1668 307//1667 203//1666
+f 487//1671 307//1670 231//1669
+f 361//1674 359//1673 352//1672
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+f 309//1680 324//1679 227//1678
+f 227//1683 249//1682 309//1681
+f 235//1686 285//1685 310//1684
+f 235//1689 310//1688 467//1687
+f 311//1692 256//1691 219//1690
+f 219//1695 263//1694 311//1693
+f 229//1698 205//1697 312//1696
+f 312//1701 276//1700 229//1699
+f 245//1704 206//1703 313//1702
+f 292//1707 245//1706 313//1705
+f 356//1710 207//1709 314//1708
+f 314//1713 207//1712 345//1711
+f 257//1716 315//1715 222//1714
+f 315//1719 257//1718 272//1717
+f 302//1722 399//1721 396//1720
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+f 334//1728 395//1727 317//1726
+f 338//1731 318//1730 372//1729
+f 256//1734 365//1733 318//1732
+f 303//1737 319//1736 350//1735
+f 305//1740 319//1739 303//1738
+f 200//1743 321//1742 233//1741
+f 273//1746 321//1745 200//1744
+f 326//1749 322//1748 214//1747
+f 323//1752 196//1751 342//1750
+f 284//1755 196//1754 323//1753
+f 312//1758 205//1757 324//1756
+f 274//1761 374//1760 314//1759
+f 367//1764 325//1763 274//1762
+f 255//1767 322//1766 326//1765
+f 481//1770 224//1769 327//1768
+f 213//1773 327//1772 224//1771
+f 242//1776 328//1775 266//1774
+f 328//1779 346//1778 266//1777
+f 249//1782 365//1781 329//1780
+f 309//1785 249//1784 329//1783
+f 221//1788 330//1787 258//1786
+f 357//1791 349//1790 330//1789
+f 244//1794 331//1793 259//1792
+f 370//1797 332//1796 301//1795
+f 233//1800 364//1799 332//1798
+f 265//1803 333//1802 300//1801
+f 216//1806 333//1805 265//1804
+f 334//1809 387//1808 280//1807
+f 223//1812 334//1811 306//1810
+f 219//1815 338//1814 335//1813
+f 236//1818 219//1817 335//1816
+f 403//1821 306//1820 261//1819
+f 403//1824 261//1823 211//1822
+f 273//1827 337//1826 321//1825
+f 337//1830 273//1829 349//1828
+f 256//1833 318//1832 338//1831
+f 256//1836 338//1835 219//1834
+f 349//1839 339//1838 367//1837
+f 204//1842 339//1841 242//1840
+f 340//1845 239//1844 316//1843
+f 340//1848 221//1847 239//1846
+f 253//1851 341//1850 344//1849
+f 337//1854 341//1853 253//1852
+f 385//1857 342//1856 246//1855
+f 196//1860 246//1859 342//1858
+f 380//1863 257//1862 343//1861
+f 380//1866 343//1865 218//1864
+f 236//1869 344//1868 341//1867
+f 269//1872 344//1871 236//1870
+f 280//1875 274//1874 345//1873
+f 345//1878 395//1877 280//1876
+f 247//1881 347//1880 346//1879
+f 247//1884 346//1883 328//1882
+f 200//1887 347//1886 247//1885
+f 200//1890 370//1889 347//1888
+f 348//1893 237//1892 275//1891
+f 275//1896 248//1895 348//1894
+f 349//1899 226//1898 339//1897
+f 349//1902 273//1901 226//1900
+f 320//1905 350//1904 351//1903
+f 303//1908 350//1907 320//1906
+f 242//1911 266//1910 352//1909
+f 352//1914 359//1913 242//1912
+f 356//1917 353//1916 238//1915
+f 212//1920 354//1919 244//1918
+f 212//1923 300//1922 354//1921
+f 258//1926 355//1925 358//1924
+f 258//1929 330//1928 355//1927
+f 356//1932 291//1931 353//1930
+f 314//1935 291//1934 356//1933
+f 357//1938 221//1937 263//1936
+f 330//1941 221//1940 357//1939
+f 387//1944 358//1943 280//1942
+f 358//1947 223//1946 306//1945
+f 264//1950 359//1949 361//1948
+f 325//1953 359//1952 264//1951
+f 216//1956 360//1955 333//1954
+f 231//1959 360//1958 216//1957
+f 264//1962 361//1961 308//1960
+f 272//1965 362//1964 210//1963
+f 272//1968 257//1967 362//1966
+f 363//1971 256//1970 311//1969
+f 363//1974 365//1973 256//1972
+f 296//1977 364//1976 233//1975
+f 329//1980 365//1979 302//1978
+f 302//1983 365//1982 316//1981
+f 483//1986 366//1985 201//1984
+f 222//1989 201//1988 366//1987
+f 367//1992 204//1991 325//1990
+f 367//1995 339//1994 204//1993
+f 368//1998 198//1997 269//1996
+f 282//2001 198//2000 368//1999
+f 259//2004 369//2003 195//2002
+f 259//2007 331//2006 369//2005
+f 233//2010 370//2009 200//2008
+f 233//2013 332//2012 370//2011
+f 275//2016 371//2015 248//2014
+f 480//2019 248//2018 371//2017
+f 282//2022 372//2021 375//2020
+f 368//2025 372//2024 282//2023
+f 241//2028 286//2027 373//2026
+f 373//2031 206//2030 241//2029
+f 325//2034 264//2033 374//2032
+f 274//2037 325//2036 374//2035
+f 268//2040 252//2039 375//2038
+f 375//2043 252//2042 282//2041
+f 195//2046 376//2045 243//2044
+f 195//2049 369//2048 376//2047
+f 379//2052 378//2051 377//2050
+f 208//2055 257//2054 380//2053
+f 299//2058 208//2057 380//2056
+f 381//2061 351//2060 382//2059
+f 320//2064 351//2063 381//2062
+f 196//2067 383//2066 322//2065
+f 322//2070 383//2069 214//2068
+f 222//2073 384//2072 268//2071
+f 222//2076 315//2075 384//2074
+f 262//2079 385//2078 285//2077
+f 385//2082 246//2081 285//2080
+f 386//2085 304//2084 305//2083
+f 386//2088 298//2087 304//2086
+f 223//2091 387//2090 334//2089
+f 387//2094 223//2093 358//2092
+f 348//2097 388//2096 237//2095
+f 297//2100 389//2099 210//2098
+f 390//2103 263//2102 341//2101
+f 357//2106 263//2105 390//2104
+f 210//2109 391//2108 198//2107
+f 269//2112 198//2111 391//2110
+f 353//2115 392//2114 238//2113
+f 353//2118 404//2117 392//2116
+f 239//2121 393//2120 399//2119
+f 239//2124 258//2123 393//2122
+f 296//2127 394//2126 364//2125
+f 253//2130 394//2129 296//2128
+f 207//2133 230//2132 407//2131
+f 317//2136 407//2135 230//2134
+f 405//2139 396//2138 397//2137
+f 302//2142 396//2141 405//2140
+f 336//2145 397//2144 306//2143
+f 405//2148 397//2147 336//2146
+f 243//2151 398//2150 295//2149
+f 243//2154 376//2153 398//2152
+f 316//2157 399//2156 302//2155
+f 316//2160 239//2159 399//2158
+f 400//2163 378//2162 379//2161
+f 400//2166 401//2165 378//2164
+f 262//2169 402//2168 385//2167
+f 402//2172 342//2171 385//2170
+f 336//2175 306//2174 403//2173
+f 336//2178 403//2177 211//2176
+f 308//2181 404//2180 353//2179
+f 308//2184 406//2183 404//2182
+f 211//2187 277//2186 405//2185
+f 405//2190 336//2189 211//2188
+f 361//2193 406//2192 308//2191
+f 361//2196 408//2195 406//2194
+f 345//2199 407//2198 395//2197
+f 317//2202 395//2201 407//2200
+f 352//2205 408//2204 361//2203
+f 352//2208 415//2207 408//2206
+f 409//2211 401//2210 400//2209
+f 409//2214 410//2213 401//2212
+f 238//2217 392//2216 411//2215
+f 238//2220 411//2219 271//2218
+f 412//2223 231//2222 203//2221
+f 360//2226 231//2225 412//2224
+f 346//2229 413//2228 266//2227
+f 346//2232 414//2231 413//2230
+f 347//2235 414//2234 346//2233
+f 347//2238 301//2237 414//2236
+f 266//2241 415//2240 352//2239
+f 266//2244 413//2243 415//2242
+f 271//2247 416//2246 230//2245
+f 417//2250 416//2249 271//2248
+f 271//2253 411//2252 417//2251
+f 260//2256 479//2255 418//2254
+f 260//2259 418//2258 388//2257
+f 382//2262 478//2261 419//2260
+f 381//2265 382//2264 419//2263
+f 210//2268 389//2267 421//2266
+f 210//2271 422//2270 269//2269
+f 326//2274 423//2273 255//2272
+f 326//2277 424//2276 423//2275
+f 214//2280 424//2279 326//2278
+f 214//2283 383//2282 424//2281
+f 425//2286 298//2285 386//2284
+f 297//2289 298//2288 425//2287
+f 332//2292 426//2291 301//2290
+f 427//2295 237//2294 388//2293
+f 470//2298 237//2297 427//2296
+f 202//2301 434//2300 428//2299
+f 202//2304 428//2303 250//2302
+f 429//2307 410//2306 409//2305
+f 410//2310 429//2309 436//2308
+f 205//2313 431//2312 324//2311
+f 205//2316 438//2315 431//2314
+f 388//2319 418//2318 432//2317
+f 427//2322 388//2321 432//2320
+f 433//2325 254//2324 206//2323
+f 442//2328 254//2327 433//2326
+f 228//2331 434//2330 202//2329
+f 228//2334 476//2333 434//2332
+f 210//2337 435//2336 422//2335
+f 421//2340 435//2339 210//2338
+f 436//2343 429//2342 430//2341
+f 436//2346 430//2345 474//2344
+f 288//2349 438//2348 205//2347
+f 467//2352 439//2351 288//2350
+f 297//2355 440//2354 389//2353
+f 288//2358 441//2357 438//2356
+f 439//2361 441//2360 288//2359
+f 442//2364 251//2363 254//2362
+f 471//2367 251//2366 442//2365
+f 305//2370 303//2369 443//2368
+f 444//2373 440//2372 297//2371
+f 379//2376 377//2375 445//2374
+f 445//2379 377//2378 446//2377
+f 250//2382 447//2381 215//2380
+f 250//2385 428//2384 447//2383
+f 463//2388 449//2387 448//2386
+f 451//2391 454//2390 450//2389
+f 453//2394 455//2393 452//2392
+f 452//2397 454//2396 451//2395
+f 452//2400 455//2399 454//2398
+f 453//2403 456//2402 455//2401
+f 453//2406 459//2405 456//2404
+f 457//2409 459//2408 453//2407
+f 458//2412 459//2411 457//2410
+f 458//2415 461//2414 459//2413
+f 462//2418 448//2417 460//2416
+f 462//2421 461//2420 458//2419
+f 462//2424 460//2423 461//2422
+f 463//2427 448//2426 462//2425
+f 463//2430 439//2429 466//2428
+f 466//2433 449//2432 463//2431
+f 466//2436 464//2435 449//2434
+f 465//2439 464//2438 466//2437
+f 466//2442 439//2441 467//2440
+f 467//2445 322//2444 255//2443
+f 255//2448 468//2447 467//2446
+f 255//2451 423//2450 468//2449
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+f 470//2457 206//2456 237//2455
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+f 471//2463 203//2462 251//2461
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+f 412//2469 203//2468 472//2467
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+f 476//2475 324//2474 473//2473
+f 474//2478 437//2477 477//2476
+f 474//2481 430//2480 437//2479
+f 278//2484 476//2483 228//2482
+f 278//2487 324//2486 476//2485
+f 477//2490 475//2489 474//2488
+f 477//2493 478//2492 475//2491
+f 419//2496 478//2495 420//2494
+f 420//2499 478//2498 477//2497
+f 215//2502 479//2501 260//2500
+f 215//2505 447//2504 479//2503
+f 480//2508 371//2507 482//2506
+f 481//2511 327//2510 480//2509
+f 483//2514 294//2513 481//2512
+f 482//2517 292//2516 485//2515
+f 484//2520 366//2519 483//2518
+f 488//2523 366//2522 484//2521
+f 485//2526 307//2525 486//2524
+f 486//2529 307//2528 487//2527
+f 487//2532 231//2531 489//2530
+f 492//2535 366//2534 488//2533
+f 489//2538 216//2537 490//2536
+f 490//2541 265//2540 491//2539
+f 491//2544 212//2543 496//2542
+f 493//2547 218//2546 492//2545
+f 494//2550 295//2549 493//2548
+f 495//2553 243//2552 494//2551
+f 497//2556 259//2555 495//2554
+f 496//2559 212//2558 244//2557
+f 497//2562 244//2561 259//2560
+f 496//2565 244//2564 497//2563
+f 244//2568 498//2567 331//2566
+f 244//2571 354//2570 498//2569
 # 0 polygons - 478 triangles
 
 #
@@ -4188,64 +4188,64 @@ o N17_24_P02_07_L_Forearm_Outside_structure_lid
 g N17_24_P02_07_L_Forearm_Outside_structure_lid
 usemtl Material__41
 s 1
-f 508//2574 518//2573 506//2572 
-f 501//2577 507//2576 499//2575 
-f 509//2580 514//2579 506//2578 
-f 507//2583 523//2582 499//2581 
-f 510//2586 512//2585 515//2584 
-f 514//2589 511//2588 506//2587 
-f 506//2592 521//2591 519//2590 
-f 522//2595 515//2594 512//2593 
-f 516//2598 520//2597 529//2596 
-f 505//2601 513//2600 510//2599 
-f 506//2604 528//2603 527//2602 
-f 520//2607 516//2606 506//2605 
-f 507//2610 501//2609 521//2608 
-f 507//2613 502//2612 510//2611 
-f 525//2616 518//2615 508//2614 
-f 521//2619 517//2618 519//2617 
-f 499//2622 523//2621 524//2620 
-f 525//2625 499//2624 518//2623 
-f 507//2628 510//2627 523//2626 
-f 510//2631 513//2630 503//2629 
-f 503//2634 526//2633 511//2632 
-f 511//2637 520//2636 506//2635 
-f 502//2640 512//2639 510//2638 
-f 527//2643 528//2642 512//2641 
-f 500//2646 511//2645 526//2644 
-f 500//2649 513//2648 505//2647 
-f 509//2652 503//2651 514//2650 
-f 514//2655 503//2654 511//2653 
-f 510//2658 515//2657 505//2656 
-f 515//2661 516//2660 529//2659 
-f 506//2664 516//2663 528//2662 
-f 522//2667 516//2666 515//2665 
-f 521//2670 501//2669 517//2668 
-f 525//2673 501//2672 499//2671 
-f 524//2676 518//2675 499//2674 
-f 518//2679 509//2678 506//2677 
-f 517//2682 508//2681 519//2680 
-f 519//2685 508//2684 506//2683 
-f 500//2688 529//2687 520//2686 
-f 511//2691 500//2690 520//2689 
-f 527//2694 521//2693 506//2692 
-f 507//2697 521//2696 502//2695 
-f 504//2700 516//2699 522//2698 
-f 522//2703 512//2702 504//2701 
-f 510//2706 503//2705 523//2704 
-f 524//2709 523//2708 503//2707 
-f 524//2712 503//2711 509//2710 
-f 524//2715 509//2714 518//2713 
-f 525//2718 508//2717 517//2716 
-f 517//2721 501//2720 525//2719 
-f 526//2724 513//2723 500//2722 
-f 503//2727 513//2726 526//2725 
-f 521//2730 527//2729 502//2728 
-f 527//2733 512//2732 502//2731 
-f 528//2736 516//2735 504//2734 
-f 504//2739 512//2738 528//2737 
-f 500//2742 505//2741 529//2740 
-f 529//2745 505//2744 515//2743 
+f 508//2574 518//2573 506//2572
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+f 509//2580 514//2579 506//2578
+f 507//2583 523//2582 499//2581
+f 510//2586 512//2585 515//2584
+f 514//2589 511//2588 506//2587
+f 506//2592 521//2591 519//2590
+f 522//2595 515//2594 512//2593
+f 516//2598 520//2597 529//2596
+f 505//2601 513//2600 510//2599
+f 506//2604 528//2603 527//2602
+f 520//2607 516//2606 506//2605
+f 507//2610 501//2609 521//2608
+f 507//2613 502//2612 510//2611
+f 525//2616 518//2615 508//2614
+f 521//2619 517//2618 519//2617
+f 499//2622 523//2621 524//2620
+f 525//2625 499//2624 518//2623
+f 507//2628 510//2627 523//2626
+f 510//2631 513//2630 503//2629
+f 503//2634 526//2633 511//2632
+f 511//2637 520//2636 506//2635
+f 502//2640 512//2639 510//2638
+f 527//2643 528//2642 512//2641
+f 500//2646 511//2645 526//2644
+f 500//2649 513//2648 505//2647
+f 509//2652 503//2651 514//2650
+f 514//2655 503//2654 511//2653
+f 510//2658 515//2657 505//2656
+f 515//2661 516//2660 529//2659
+f 506//2664 516//2663 528//2662
+f 522//2667 516//2666 515//2665
+f 521//2670 501//2669 517//2668
+f 525//2673 501//2672 499//2671
+f 524//2676 518//2675 499//2674
+f 518//2679 509//2678 506//2677
+f 517//2682 508//2681 519//2680
+f 519//2685 508//2684 506//2683
+f 500//2688 529//2687 520//2686
+f 511//2691 500//2690 520//2689
+f 527//2694 521//2693 506//2692
+f 507//2697 521//2696 502//2695
+f 504//2700 516//2699 522//2698
+f 522//2703 512//2702 504//2701
+f 510//2706 503//2705 523//2704
+f 524//2709 523//2708 503//2707
+f 524//2712 503//2711 509//2710
+f 524//2715 509//2714 518//2713
+f 525//2718 508//2717 517//2716
+f 517//2721 501//2720 525//2719
+f 526//2724 513//2723 500//2722
+f 503//2727 513//2726 526//2725
+f 521//2730 527//2729 502//2728
+f 527//2733 512//2732 502//2731
+f 528//2736 516//2735 504//2734
+f 504//2739 512//2738 528//2737
+f 500//2742 505//2741 529//2740
+f 529//2745 505//2744 515//2743
 # 0 polygons - 58 triangles
 
 #
@@ -6951,774 +6951,774 @@ o N17_24_P02_08_Forearm_Heatsink
 g N17_24_P02_08_Forearm_Heatsink
 usemtl Material__39
 s 1
-f 789//2748 705//2747 592//2746 
-f 810//2751 685//2750 761//2749 
-f 691//2754 594//2753 909//2752 
-f 789//2757 592//2756 565//2755 
-f 791//2760 717//2759 669//2758 
-f 857//2763 608//2762 629//2761 
-f 676//2766 601//2765 620//2764 
-f 658//2769 583//2768 879//2767 
-f 915//2772 604//2771 589//2770 
-f 719//2775 671//2774 759//2773 
-f 780//2778 642//2777 565//2776 
-f 659//2781 861//2780 818//2779 
-f 682//2784 569//2783 782//2782 
-f 612//2787 774//2786 788//2785 
-f 897//2790 893//2789 595//2788 
-f 835//2793 559//2792 798//2791 
-f 599//2796 555//2795 687//2794 
-f 756//2799 715//2798 713//2797 
-f 815//2802 746//2801 856//2800 
-f 861//2805 791//2804 785//2803 
-f 714//2808 743//2807 638//2806 
-f 672//2811 886//2810 839//2809 
-f 642//2814 741//2813 565//2812 
-f 589//2817 604//2816 689//2815 
-f 775//2820 595//2819 688//2818 
-f 594//2823 545//2822 909//2821 
-f 587//2826 715//2825 756//2824 
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 #
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-f 1988//10554 2097//10553 2144//10552 
-f 1900//10557 1806//10556 2208//10555 
-f 1864//10560 2131//10559 1777//10558 
-f 1702//10563 1749//10562 1865//10561 
-f 1865//10566 1826//10565 1702//10564 
-f 2081//10569 2194//10568 1866//10567 
-f 2133//10572 1937//10571 1866//10570 
-f 2142//10575 1916//10574 2220//10573 
-f 1867//10578 1821//10577 2174//10576 
-f 1868//10581 2129//10580 2135//10579 
-f 2063//10584 1731//10583 2039//10582 
-f 2198//10587 2109//10586 2084//10585 
-f 1983//10590 1740//10589 2086//10588 
-f 2035//10593 2122//10592 2183//10591 
-f 1724//10596 2116//10595 1764//10594 
-f 1792//10599 1708//10598 2162//10597 
-f 2142//10602 2220//10601 2162//10600 
-f 1691//10605 1717//10604 1872//10603 
-f 2040//10608 1717//10607 1902//10606 
-f 1829//10611 1873//10610 1715//10609 
-f 1715//10614 1873//10613 1785//10612 
-f 1874//10617 1782//10616 2058//10615 
-f 2139//10620 2163//10619 1787//10618 
-f 2224//10623 1711//10622 1924//10621 
-f 1823//10626 2043//10625 2125//10624 
-f 1876//10629 1699//10628 1778//10627 
-f 1695//10632 1876//10631 1778//10630 
-f 1683//10635 2205//10634 1898//10633 
-f 2171//10638 2205//10637 1683//10636 
-f 1878//10641 1965//10640 2159//10639 
-f 1735//10644 1771//10643 2048//10642 
-f 2193//10647 2053//10646 1687//10645 
-f 2083//10650 2115//10649 1763//10648 
-f 2215//10653 2018//10652 2176//10651 
-f 2046//10656 1880//10655 2055//10654 
-f 1837//10659 1726//10658 2173//10657 
-f 2173//10662 2102//10661 1919//10660 
-f 1882//10665 1687//10664 2138//10663 
-f 1882//10668 2138//10667 1955//10666 
-f 1725//10671 1883//10670 1691//10669 
-f 1883//10674 2079//10673 2029//10672 
-f 1884//10677 2088//10676 1755//10675 
-f 1704//10680 1884//10679 1852//10678 
-f 2160//10683 1749//10682 1885//10681 
-f 1781//10686 1885//10685 1715//10684 
-f 1771//10689 1839//10688 1886//10687 
-f 1713//10692 1886//10691 1839//10690 
-f 1708//10695 1765//10694 1887//10693 
-f 2073//10698 1995//10697 1708//10696 
-f 2161//10701 1993//10700 2098//10699 
-f 1888//10704 2068//10703 1983//10702 
-f 2005//10707 1889//10706 2143//10705 
-f 2108//10710 2192//10709 1889//10708 
-f 1878//10713 1890//10712 1847//10711 
-f 1890//10716 1989//10715 1847//10714 
-f 2014//10719 2180//10718 1891//10717 
-f 1891//10722 1721//10721 1984//10720 
-f 1887//10725 1765//10724 1892//10723 
-f 2178//10728 2020//10727 2063//10726 
-f 1893//10731 1837//10730 2089//10729 
-f 1693//10734 1893//10733 2089//10732 
-f 1706//10737 1793//10736 1894//10735 
-f 1894//10740 1705//10739 1706//10738 
-f 2015//10743 1926//10742 1895//10741 
-f 1934//10746 2003//10745 1895//10744 
-f 1808//10749 2121//10748 2081//10747 
-f 2065//10752 1982//10751 1896//10750 
-f 1810//10755 1897//10754 1859//10753 
-f 1746//10758 1897//10757 1810//10756 
-f 1898//10761 1767//10760 2036//10759 
-f 1898//10764 1890//10763 1767//10762 
-f 1679//10767 1899//10766 1752//10765 
-f 1679//10770 2181//10769 1899//10768 
-f 1777//10773 1900//10772 1864//10771 
-f 2127//10776 1900//10775 2022//10774 
-f 1901//10779 1734//10778 1848//10777 
-f 2067//10782 1901//10781 2105//10780 
-f 1902//10785 1779//10784 2069//10783 
-f 1690//10788 2211//10787 1902//10786 
-f 1929//10791 1903//10790 1754//10789 
-f 1903//10794 1817//10793 1754//10792 
-f 1993//10797 2011//10796 2165//10795 
-f 1904//10800 1691//10799 2157//10798 
-f 2034//10803 1969//10802 1851//10801 
-f 1737//10806 1905//10805 1745//10804 
-f 2113//10809 1906//10808 1724//10807 
-f 2143//10812 1889//10811 2035//10810 
-f 1680//10815 1907//10814 1757//10813 
-f 1691//10818 1757//10817 1907//10816 
-f 2029//10821 2194//10820 2121//10819 
-f 1908//10824 2178//10823 2039//10822 
-f 1854//10827 1785//10826 1909//10825 
-f 1909//10830 1785//10829 1882//10828 
-f 2157//10833 1899//10832 1910//10831 
-f 1935//10836 2157//10835 1910//10834 
-f 1911//10839 1985//10838 2171//10837 
-f 1911//10842 2171//10841 1830//10840 
-f 2102//10845 1912//10844 1733//10843 
-f 1795//10848 2059//10847 1912//10846 
-f 1967//10851 1827//10850 1913//10849 
-f 1913//10854 1827//10853 2027//10852 
-f 1814//10857 1856//10856 2010//10855 
-f 1814//10860 2010//10859 2155//10858 
-f 1776//10863 2215//10862 2176//10861 
-f 2090//10866 1776//10865 1928//10864 
-f 1916//10869 1867//10868 1692//10867 
-f 1821//10872 2082//10871 1692//10870 
-f 1691//10875 1917//10874 1686//10873 
-f 1999//10878 1686//10877 1917//10876 
-f 1842//10881 1918//10880 2094//10879 
-f 1960//10884 1918//10883 2003//10882 
-f 1865//10887 1919//10886 1826//10885 
-f 1994//10890 1826//10889 1919//10888 
-f 2070//10893 2053//10892 2132//10891 
-f 1763//10896 2115//10895 1920//10894 
-f 1923//10899 1824//10898 2196//10897 
-f 2050//10902 1921//10901 1824//10900 
-f 2112//10905 1922//10904 2133//10903 
-f 2219//10908 2131//10907 1864//10906 
-f 2100//10911 2027//10910 1962//10909 
-f 1775//10914 2045//10913 1923//10912 
-f 2224//10917 1924//10916 1806//10915 
-f 1806//10920 1924//10919 1758//10918 
-f 1925//10923 1768//10922 2077//10921 
-f 1952//10926 2189//10925 1925//10924 
-f 1729//10929 1895//10928 1926//10927 
-f 1729//10932 1926//10931 2111//10930 
-f 1998//10935 1738//10934 2150//10933 
-f 2118//10938 1812//10937 1927//10936 
-f 1787//10941 2060//10940 2139//10939 
-f 1822//10944 1928//10943 1776//10942 
-f 1799//10947 1929//10946 1705//10945 
-f 1799//10950 1744//10949 1929//10948 
-f 1939//10953 1930//10952 1753//10951 
-f 1882//10956 1753//10955 1930//10954 
-f 1832//10959 2149//10958 1973//10957 
-f 1832//10962 1844//10961 2149//10960 
-f 1890//10965 1932//10964 1989//10963 
-f 1840//10968 1932//10967 1890//10966 
-f 1757//10971 1933//10970 1680//10969 
-f 1691//10974 1933//10973 1757//10972 
-f 2049//10977 1895//10976 1729//10975 
-f 1934//10980 1729//10979 1825//10978 
-f 1935//10983 1794//10982 1904//10981 
-f 2061//10986 2017//10985 1794//10984 
-f 2116//10989 2066//10988 1936//10987 
-f 2151//10992 2181//10991 2074//10990 
-f 1698//10995 1866//10994 2177//10993 
-f 1764//10998 1698//10997 2057//10996 
-f 1938//11001 2187//11000 2019//10999 
-f 2192//11004 1831//11003 1944//11002 
-f 1727//11007 1939//11006 1779//11005 
-f 1939//11010 2069//11009 1779//11008 
-f 1841//11013 1940//11012 1800//11011 
-f 1691//11016 1800//11015 1940//11014 
-f 2076//11019 2147//11018 1941//11017 
-f 2203//11022 1918//11021 1996//11020 
-f 1942//11025 2095//11024 1769//11023 
-f 2097//11028 1769//11027 1863//11026 
-f 1980//11031 2117//11030 1742//11029 
-f 1742//11034 1943//11033 1888//11032 
-f 1869//11037 1944//11036 1740//11035 
-f 1889//11040 1944//11039 1869//11038 
-f 1723//11043 1945//11042 2087//11041 
-f 1811//11046 2092//11045 1819//11044 
-f 1802//11049 1946//11048 2107//11047 
-f 1807//11052 1678//11051 1946//11050 
-f 2019//11055 2187//11054 2222//11053 
-f 1804//11058 1947//11057 2043//11056 
-f 1948//11061 1723//11060 2031//11059 
-f 1948//11064 1968//11063 1723//11062 
-f 2010//11067 1748//11066 2155//11065 
-f 1748//11070 2022//11069 1949//11068 
-f 2046//11073 1950//11072 1707//11071 
-f 1858//11076 1707//11075 2080//11074 
-f 2036//11079 1951//11078 1813//11077 
-f 2152//11082 1951//11081 2032//11080 
-f 1821//11085 1952//11084 2188//11083 
-f 2166//11088 2003//11087 1952//11086 
-f 1923//11091 2045//11090 1953//11089 
-f 1953//11094 1815//11093 2093//11092 
-f 1954//11097 1921//11096 2050//11095 
-f 1732//11100 1783//11099 1954//11098 
-f 1955//11103 2138//11102 2211//11101 
-f 1955//11106 2211//11105 2004//11104 
-f 2112//11109 1956//11108 1922//11107 
-f 1868//11112 2135//11111 1731//11110 
-f 1957//11115 1764//11114 1808//11113 
-f 1764//11118 2195//11117 1698//11116 
-f 1865//11121 1786//11120 1958//11119 
-f 1865//11124 1958//11123 2173//11122 
-f 1767//11127 2048//11126 1959//11125 
-f 1767//11130 1959//11129 2036//11128 
-f 1918//11133 1960//11132 2094//11131 
-f 1797//11136 1700//11135 1960//11134 
-f 1811//11139 1774//11138 1961//11137 
-f 1774//11142 1755//11141 1961//11140 
-f 1962//11145 1827//11144 1745//11143 
-f 1962//11148 1745//11147 1968//11146 
-f 1963//11151 1812//11150 2118//11149 
-f 1722//11154 1849//11153 1963//11152 
-f 2111//11157 1783//11156 1964//11155 
-f 1783//11160 2024//11159 1964//11158 
-f 1847//11163 2169//11162 2093//11161 
-f 1878//11166 1847//11165 1965//11164 
-f 2193//11169 1687//11168 1966//11167 
-f 1785//11172 1966//11171 1687//11170 
-f 1737//11175 1967//11174 1701//11173 
-f 2120//11178 1967//11177 1913//11176 
-f 2092//11181 1968//11180 1682//11179 
-f 1968//11184 1745//11183 1682//11182 
-f 1905//11187 1737//11186 1969//11185 
-f 1969//11190 1977//11189 1877//11188 
-f 1909//11193 1709//11192 1970//11191 
-f 1709//11196 2067//11195 1970//11194 
-f 1971//11199 2126//11198 1760//11197 
-f 1971//11202 1760//11201 2040//11200 
-f 1746//11205 2064//11204 1972//11203 
-f 1746//11208 1972//11207 1897//11206 
-f 2170//11211 1931//11210 2041//11209 
-f 1832//11214 1973//11213 1743//11212 
-f 1792//11217 1974//11216 2191//11215 
-f 2162//11220 2220//11219 1792//11218 
-f 1975//11223 1796//11222 2158//11221 
-f 1975//11226 2032//11225 1796//11224 
-f 1844//11229 2099//11228 2037//11227 
-f 1768//11232 2099//11231 1844//11230 
-f 1969//11235 1737//11234 1977//11233 
-f 1977//11238 1737//11237 1691//11236 
-f 1871//11241 1978//11240 1862//11239 
-f 1770//11244 1862//11243 1978//11242 
-f 1754//11247 1979//11246 1705//11245 
-f 1979//11250 1696//11249 1705//11248 
-f 1822//11253 2117//11252 1980//11251 
-f 1990//11256 2139//11255 1980//11254 
-f 1684//11259 1981//11258 1874//11257 
-f 1684//11262 1972//11261 1981//11260 
-f 1679//11265 1982//11264 2065//11263 
-f 1982//11268 1679//11267 1752//11266 
-f 1983//11271 1835//11270 2180//11269 
-f 1983//11274 2086//11273 1835//11272 
-f 1984//11277 2153//11276 1859//11275 
-f 1897//11280 1984//11279 1859//11278 
-f 1985//11283 1790//11282 2217//11281 
-f 2062//11286 1985//11285 1911//11284 
-f 1704//11289 1852//11288 1986//11287 
-f 1961//11292 1986//11291 1852//11290 
-f 2025//11295 1987//11294 1736//11293 
-f 2105//11298 1987//11297 2067//11296 
-f 1678//11301 1732//11300 1988//11299 
-f 1988//11304 2144//11303 1678//11302 
-f 1718//11307 2093//11306 2169//11305 
-f 1942//11310 1718//11309 2095//11308 
-f 2103//11313 2014//11312 1843//11311 
-f 1843//11316 2013//11315 2103//11314 
-f 1849//11319 1991//11318 1693//11317 
-f 1991//11322 1893//11321 1693//11320 
-f 1992//11325 1871//11324 2101//11323 
-f 1708//11328 1871//11327 1992//11326 
-f 1993//11331 2165//11330 1801//11329 
-f 2098//11334 1993//11333 1801//11332 
-f 1795//11337 2172//11336 2059//11335 
-f 1826//11340 2172//11339 1795//11338 
-f 1995//11343 1747//11342 1978//11341 
-f 2123//11346 1995//11345 2073//11344 
-f 2070//11349 1833//11348 1996//11347 
-f 1941//11352 1996//11351 2076//11350 
-f 2219//11355 2202//11354 2214//11353 
-f 2005//11358 2113//11357 1997//11356 
-f 1812//11361 1759//11360 1998//11359 
-f 1998//11364 2150//11363 1812//11362 
-f 1999//11367 1917//11366 1841//11365 
-f 2146//11370 1999//11369 1841//11368 
-f 1964//11373 2000//11372 1788//11371 
-f 2000//11376 2053//11375 1788//11374 
-f 2001//11379 1703//11378 2210//11377 
-f 1762//11382 1703//11381 2001//11380 
-f 1836//11385 2002//11384 1772//11383 
-f 1761//11388 1772//11387 2002//11386 
-f 1960//11391 2003//11390 1797//11389 
-f 2096//11394 2003//11393 1934//11392 
-f 2004//11397 1857//11396 1955//11395 
-f 1939//11400 1857//11399 2004//11398 
-f 1758//11403 1924//11402 2108//11401 
-f 2005//11406 1997//11405 1758//11404 
-f 2134//11409 2006//11408 1828//11407 
-f 1697//11412 1775//11411 2006//11410 
-f 1920//11415 2115//11414 2147//11413 
-f 2007//11418 2115//11417 1768//11416 
-f 2008//11421 1678//11420 1807//11419 
-f 1807//11424 1741//11423 2008//11422 
-f 1830//11427 2009//11426 1750//11425 
-f 1830//11430 2171//11429 2009//11428 
-f 2010//11433 1856//11432 2167//11431 
-f 1914//11436 1748//11435 2010//11434 
-f 1691//11439 2011//11438 1799//11437 
-f 1904//11442 2011//11441 1691//11440 
-f 1751//11445 2012//11444 1802//11443 
-f 1751//11448 1710//11447 2012//11446 
-f 1874//11451 2058//11450 2013//11449 
-f 1843//11454 1874//11453 2013//11452 
-f 1742//11457 1888//11456 2014//11455 
-f 1990//11460 1742//11459 2014//11458 
-f 1770//11463 2148//11462 2104//11461 
-f 1770//11466 2015//11465 1862//11464 
-f 1708//11469 2191//11468 1765//11467 
-f 1792//11472 2191//11471 1708//11470 
-f 1889//11475 1869//11474 2017//11473 
-f 2035//11478 1889//11477 2017//11476 
-f 2018//11481 1787//11480 2110//11479 
-f 2176//11484 2018//11483 2110//11482 
-f 1938//11487 2019//11486 1831//11485 
-f 2153//11490 2141//11489 2019//11488 
-f 2016//11493 2137//11492 1765//11491 
-f 2028//11496 1765//11495 2137//11494 
-f 1826//11499 2021//11498 1702//11497 
-f 1689//11502 2182//11501 2021//11500 
-f 2022//11505 1900//11504 1777//11503 
-f 2022//11508 1777//11507 2047//11506 
-f 2023//11511 2166//11510 1867//11509 
-f 2142//11514 1992//11513 2190//11512 
-f 2008//11517 1741//11516 2024//11515 
-f 1741//11520 1805//11519 2024//11518 
-f 2025//11523 1677//11522 2160//11521 
-f 1853//11526 1677//11525 2025//11524 
-f 1841//11529 2026//11528 1793//11527 
-f 2026//11532 1800//11531 1793//11530 
-f 2027//11535 1775//11534 1923//11533 
-f 2038//11538 2027//11537 1923//11536 
-f 1892//11541 1765//11540 2028//11539 
-f 2028//11544 2079//11543 1892//11542 
-f 1908//11547 2029//11546 2079//11545 
-f 1908//11550 1784//11549 2029//11548 
-f 1948//11553 1828//11552 2030//11551 
-f 2030//11556 1828//11555 2006//11554 
-f 1845//11559 2031//11558 1723//11557 
-f 1948//11562 2031//11561 1845//11560 
-f 1683//11565 2032//11564 1720//11563 
-f 1975//11568 1720//11567 2032//11566 
-f 1900//11571 1728//11570 2033//11569 
-f 1806//11574 1900//11573 2033//11572 
-f 1905//11577 2154//11576 1851//11575 
-f 1905//11580 1969//11579 2034//11578 
-f 2035//11583 1870//11582 1724//11581 
-f 1906//11586 2035//11585 1724//11584 
-f 1713//11589 1839//11588 2036//11587 
-f 1959//11592 1713//11591 2036//11590 
-f 2037//11595 1856//11594 1868//11593 
-f 2001//11598 1856//11597 2037//11596 
-f 1923//11601 2196//11600 2038//11599 
-f 1954//11604 2038//11603 1921//11602 
-f 2039//11607 1784//11606 1908//11605 
-f 2039//11610 2054//11609 1784//11608 
-f 2040//11613 1872//11612 1717//11611 
-f 2040//11616 2128//11615 1872//11614 
-f 1743//11619 2041//11618 2137//11617 
-f 1743//11622 2170//11621 2041//11620 
-f 1964//11625 2042//11624 2111//11623 
-f 1846//11628 1825//11627 2042//11626 
-f 2043//11631 1711//11630 1875//11629 
-f 1947//11634 2187//11633 2043//11632 
-f 1998//11637 1759//11636 2044//11635 
-f 1759//11640 1693//11639 2044//11638 
-f 1815//11643 2045//11642 1697//11641 
-f 1953//11646 2045//11645 1815//11644 
-f 1730//11649 1880//11648 2046//11647 
-f 1730//11652 2046//11651 1707//11650 
-f 1949//11655 2022//11654 2047//11653 
-f 2155//11658 2047//11657 1922//11656 
-f 2048//11661 1890//11660 1878//11659 
-f 1735//11664 2048//11663 1878//11662 
-f 1934//11667 1895//11666 2049//11665 
-f 1934//11670 2049//11669 1729//11668 
-f 1732//11673 2050//11672 1988//11671 
-f 1954//11676 2050//11675 1732//11674 
-f 1846//11679 2051//11678 1700//11677 
-f 1842//11682 2051//11681 1846//11680 
-f 1739//11685 1925//11684 2052//11683 
-f 1739//11688 2052//11687 2206//11686 
-f 1763//11691 2053//11690 2193//11689 
-f 2132//11694 2053//11693 1763//11692 
-f 1866//11697 2054//11696 2112//11695 
-f 1866//11700 2194//11699 2054//11698 
-f 2055//11703 1782//11702 1858//11701 
-f 1858//11706 1950//11705 2055//11704 
-f 1737//11709 1816//11708 2056//11707 
-f 1816//11712 1887//11711 2056//11710 
-f 1698//11715 1937//11714 2057//11713 
-f 2057//11718 1937//11717 1798//11716 
-f 2013//11721 2058//11720 1787//11719 
-f 1880//11724 1787//11723 2058//11722 
-f 2102//11727 1733//11726 2059//11725 
-f 2059//11730 1733//11729 1912//11728 
-f 2060//11733 2090//11732 1928//11731 
-f 2060//11736 1928//11735 2139//11734 
-f 2061//11739 1794//11738 1935//11737 
-f 1935//11742 1910//11741 2061//11740 
-f 1985//11745 2062//11744 1790//11743 
-f 1790//11748 2062//11747 1845//11746 
-f 2063//11751 1868//11750 1731//11749 
-f 2041//11754 1868//11753 2063//11752 
-f 1858//11757 1782//11756 2064//11755 
-f 2064//11760 1782//11759 1981//11758 
-f 2065//11763 1896//11762 1808//11761 
-f 2199//11766 2065//11765 1808//11764 
-f 1899//11769 1780//11768 2066//11767 
-f 2066//11772 1780//11771 1936//11770 
-f 1734//11775 1901//11774 2067//11773 
-f 2067//11778 2078//11777 1734//11776 
-f 2098//11781 1801//11780 2068//11779 
-f 2068//11784 1801//11783 2109//11782 
-f 1690//11787 2069//11786 2004//11785 
-f 1690//11790 1902//11789 2069//11788 
-f 2070//11793 1788//11792 2053//11791 
-f 1842//11796 1788//11795 2070//11794 
-f 1735//11799 1878//11798 2071//11797 
-f 1735//11802 2071//11801 1771//11800 
-f 2118//11805 1853//11804 2072//11803 
-f 2072//11808 1853//11807 1736//11806 
-f 1887//11811 1816//11810 2073//11809 
-f 1708//11814 1887//11813 2073//11812 
-f 2199//11817 1679//11816 2065//11815 
-f 2074//11820 2181//11819 1679//11818 
-f 2075//11823 1836//11822 1772//11821 
-f 1716//11826 1836//11825 2075//11824 
-f 2076//11829 1833//11828 2132//11827 
-f 2076//11832 1996//11831 1833//11830 
-f 2077//11835 2216//11834 1832//11833 
-f 1768//11838 2216//11837 2077//11836 
-f 2078//11841 2067//11840 1709//11839 
-f 2078//11844 1709//11843 1909//11842 
-f 1725//11847 1892//11846 2079//11845 
-f 1725//11850 2079//11849 1883//11848 
-f 2213//11853 2080//11852 1707//11851 
-f 1858//11856 2080//11855 2213//11854 
-f 2195//11859 2081//11858 1698//11857 
-f 1698//11862 2081//11861 1866//11860 
-f 2220//11865 1916//11864 2082//11863 
-f 1692//11868 2082//11867 1916//11866 
-f 1873//11871 2083//11870 1879//11869 
-f 2193//11874 2083//11873 1763//11872 
-f 1794//11877 2198//11876 2084//11875 
-f 1794//11880 2084//11879 1904//11878 
-f 2116//11883 2085//11882 1764//11881 
-f 1764//11886 2085//11885 2207//11884 
-f 2086//11889 1740//11888 1944//11887 
-f 2086//11892 1944//11891 1831//11890 
-f 2087//11895 1811//11894 1723//11893 
-f 2087//11898 1945//11897 1811//11896 
-f 1704//11901 2088//11900 1884//11899 
-f 2184//11904 2088//11903 1704//11902 
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 # 0 polygons - 1092 triangles
 
 #
@@ -19509,58 +19509,57 @@ o N17_24_P02_06_L_Forearm_Inside_structure001
 g N17_24_P02_06_L_Forearm_Inside_structure001
 usemtl Material__40
 s 1
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 # 0 polygons - 53 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/RightElbowPitchLink.obj b/robots/alex_description/meshes/cycloidal_arm/RightElbowPitchLink.obj
index 8e4e382..ac19b66 100755
--- a/robots/alex_description/meshes/cycloidal_arm/RightElbowPitchLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/RightElbowPitchLink.obj
@@ -3427,982 +3427,982 @@ o N17_25_P11_01_Elbow_To_Forearm
 g N17_25_P11_01_Elbow_To_Forearm
 usemtl Material__29
 s 1
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+f 73//2922 71//2921 72//2920
+f 89//2925 269//2924 87//2923
+f 269//2928 85//2927 87//2926
 # 0 polygons - 976 triangles
 
 #
@@ -9820,1530 +9820,1530 @@ o N17_24_P01_01_L_Elbow_Bend_Structure
 g N17_24_P01_01_L_Elbow_Bend_Structure
 usemtl Material__29
 s 1
-f 487//2931 486//2930 485//2929 
-f 490//2934 489//2933 488//2932 
-f 493//2937 492//2936 491//2935 
-f 494//2940 492//2939 493//2938 
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-f 501//2949 500//2948 499//2947 
-f 503//2952 501//2951 502//2950 
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-f 502//2958 505//2957 504//2956 
-f 506//2961 505//2960 502//2959 
-f 507//2964 506//2963 502//2962 
-f 508//2967 506//2966 507//2965 
-f 509//2970 506//2969 508//2968 
-f 510//2973 506//2972 509//2971 
-f 511//2976 510//2975 509//2974 
-f 512//2979 510//2978 511//2977 
-f 513//2982 510//2981 512//2980 
-f 514//2985 513//2984 512//2983 
-f 515//2988 513//2987 514//2986 
-f 516//2991 515//2990 514//2989 
-f 517//2994 515//2993 516//2992 
-f 518//2997 517//2996 516//2995 
-f 519//3000 517//2999 518//2998 
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-f 522//3009 520//3008 521//3007 
-f 523//3012 522//3011 521//3010 
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-f 526//3021 524//3020 525//3019 
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-f 529//3030 528//3029 526//3028 
-f 530//3033 528//3032 529//3031 
-f 531//3036 530//3035 529//3034 
-f 532//3039 531//3038 529//3037 
-f 529//3042 533//3041 532//3040 
-f 534//3045 533//3044 529//3043 
-f 535//3048 533//3047 534//3046 
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 # 0 polygons - 1524 triangles
 
 #
@@ -14506,874 +14506,874 @@ o N17_24_P01_03_L_Forearm_wire_inlet
 g N17_24_P01_03_L_Forearm_wire_inlet
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-f 1970//10329 1964//10328 1969//10327 
-f 1971//10332 1964//10331 1970//10330 
-f 1959//10335 1964//10334 1971//10333 
-f 1962//10338 1972//10337 1961//10336 
-f 1973//10341 1972//10340 1962//10339 
-f 1973//10344 1975//10343 1974//10342 
-f 1977//10347 1976//10346 1974//10345 
-f 1979//10350 1976//10349 1978//10348 
-f 1981//10353 1979//10352 1980//10351 
-f 1983//10356 1866//10355 1982//10354 
-f 1984//10359 1983//10358 1982//10357 
-f 1985//10362 1984//10361 1960//10360 
-f 1981//10365 1987//10364 1986//10363 
-f 1988//10368 1986//10367 1987//10366 
-f 1990//10371 1988//10370 1989//10369 
-f 1991//10374 1990//10373 1989//10372 
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-f 1994//10380 1992//10379 1993//10378 
-f 1996//10383 1995//10382 1994//10381 
-f 1996//10386 1997//10385 1995//10384 
-f 1989//10389 1998//10388 1991//10387 
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-f 1937//10437 1989//10436 2017//10435 
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-f 2019//10449 2022//10448 2021//10447 
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-f 1953//10455 2024//10454 2023//10453 
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-f 2022//10461 2025//10460 2021//10459 
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-f 2031//10479 2030//10478 1953//10477 
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-f 2033//10488 2032//10487 1960//10486 
-f 1958//10491 2033//10490 1960//10489 
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-f 2073//10578 2066//10577 2072//10576 
-f 2074//10581 2073//10580 2072//10579 
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-f 2042//10638 2091//10637 2090//10636 
-f 2092//10641 2091//10640 2042//10639 
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-f 2082//10647 2080//10646 2084//10645 
-f 2093//10650 2078//10649 1914//10648 
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-f 2095//10656 2094//10655 2093//10654 
-f 2093//10659 2096//10658 2095//10657 
-f 2098//10662 2097//10661 2096//10660 
-f 2098//10665 2071//10664 2097//10663 
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-f 2101//10674 1935//10673 2100//10672 
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-f 2103//10680 1935//10679 2102//10678 
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-f 2110//10701 2109//10700 2107//10699 
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-f 2112//10707 2111//10706 2110//10705 
-f 2113//10710 2111//10709 2112//10708 
-f 2114//10713 2113//10712 2112//10711 
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-f 2115//10719 1913//10718 2114//10717 
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-f 2116//10725 1910//10724 2115//10723 
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-f 2118//10731 1910//10730 2117//10729 
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-f 2121//10737 2119//10736 2120//10735 
-f 2122//10740 2119//10739 2121//10738 
-f 2123//10743 2119//10742 2122//10741 
-f 2126//10746 2125//10745 2124//10744 
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-f 2130//10752 2129//10751 2128//10750 
-f 2131//10755 2130//10754 2128//10753 
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-f 2133//10761 2132//10760 2099//10759 
-f 2099//10764 2134//10763 2133//10762 
-f 2135//10767 2134//10766 2099//10765 
-f 2129//10770 2135//10769 2099//10768 
-f 2128//10773 2125//10772 2131//10771 
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-f 2138//10782 2137//10781 2124//10780 
-f 2124//10785 2123//10784 2138//10783 
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-f 2141//10794 2062//10793 2140//10792 
-f 2142//10797 2141//10796 2140//10795 
-f 1869//10800 2142//10799 1924//10798 
-f 1870//10803 2143//10802 1868//10801 
-f 2144//10806 2143//10805 1870//10804 
-f 2145//10809 2144//10808 1870//10807 
-f 2147//10812 2146//10811 2143//10810 
-f 2148//10815 2147//10814 2143//10813 
-f 2150//10818 2149//10817 1872//10816 
-f 2146//10821 2149//10820 2150//10819 
-f 2148//10824 2143//10823 2144//10822 
-f 2153//10827 2152//10826 2151//10825 
-f 2153//10830 2154//10829 2152//10828 
-f 2155//10833 2152//10832 2154//10831 
-f 2156//10836 2152//10835 2155//10834 
-f 2157//10839 2156//10838 2155//10837 
-f 2158//10842 2156//10841 2157//10840 
-f 2157//10845 1880//10844 2158//10843 
-f 2157//10848 1879//10847 1880//10846 
-f 1870//10851 2159//10850 2145//10849 
-f 2139//10854 2159//10853 1870//10852 
-f 2029//10857 1864//10856 1862//10855 
-f 2030//10860 1864//10859 2029//10858 
-f 2031//10863 1864//10862 2030//10861 
-f 2023//10866 1864//10865 2031//10864 
-f 2024//10869 1864//10868 2023//10867 
-f 2025//10872 1864//10871 2024//10870 
-f 2025//10875 1863//10874 1864//10873 
-f 2022//10878 1863//10877 2025//10876 
-f 2019//10881 1863//10880 2022//10879 
-f 2020//10884 1863//10883 2019//10882 
-f 2028//10887 2029//10886 1862//10885 
-f 2026//10890 2027//10889 2028//10888 
-f 1946//10893 1947//10892 1949//10891 
-f 1944//10896 1945//10895 1946//10894 
-f 1944//10899 1946//10898 1949//10897 
-f 1994//10902 1993//10901 1942//10900 
-f 1997//10905 1996//10904 1994//10903 
-f 2000//10908 1997//10907 1994//10906 
-f 2000//10911 1994//10910 1942//10909 
-f 2000//10914 1942//10913 1940//10912 
-f 2001//10917 2000//10916 1940//10915 
-f 1939//10920 1937//10919 2017//10918 
-f 1939//10923 2017//10922 2016//10921 
-f 1939//10926 2016//10925 2014//10924 
-f 1939//10929 2014//10928 2013//10927 
-f 1939//10932 2013//10931 2011//10930 
-f 1939//10935 2011//10934 2010//10933 
-f 1939//10938 2010//10937 2009//10936 
-f 1939//10941 2009//10940 2007//10939 
-f 1939//10944 2007//10943 2006//10942 
-f 1939//10947 2006//10946 2004//10945 
-f 1939//10950 2004//10949 2003//10948 
-f 1998//10953 1999//10952 1936//10951 
-f 1990//10956 1991//10955 1998//10954 
-f 1990//10959 1998//10958 1936//10957 
-f 1986//10962 1988//10961 1990//10960 
-f 1979//10965 1981//10964 1986//10963 
-f 1979//10968 1986//10967 1990//10966 
-f 1979//10971 1990//10970 1936//10969 
-f 1974//10974 1976//10973 1979//10972 
-f 1972//10977 1973//10976 1974//10975 
-f 1972//10980 1974//10979 1979//10978 
-f 1972//10983 1979//10982 1936//10981 
-f 1972//10986 1936//10985 1938//10984 
-f 1972//10989 1938//10988 1939//10987 
-f 1961//10992 1972//10991 1939//10990 
-f 1961//10995 1939//10994 2003//10993 
-f 1961//10998 2003//10997 2002//10996 
-f 1961//11001 2002//11000 2001//10999 
-f 1963//11004 1961//11003 2001//11002 
-f 1965//11007 1963//11006 2001//11005 
-f 1967//11010 1966//11009 1965//11008 
-f 1868//11013 1958//11012 1959//11011 
-f 1868//11016 2033//11015 1958//11014 
-f 1868//11019 2032//11018 2033//11017 
-f 1868//11022 1985//11021 2032//11020 
-f 1866//11025 1985//11024 1868//11023 
-f 1866//11028 1984//11027 1985//11026 
-f 1866//11031 1983//11030 1984//11029 
-f 1868//11034 1959//11033 1971//11032 
-f 1870//11037 1868//11036 1971//11035 
-f 1870//11040 1971//11039 1970//11038 
-f 1870//11043 1970//11042 1969//11041 
-f 1870//11046 1969//11045 1968//11044 
-f 1870//11049 1968//11048 1967//11047 
-f 1870//11052 1967//11051 1965//11050 
-f 1870//11055 1965//11054 2001//11053 
-f 1870//11058 2001//11057 1940//11056 
-f 1870//11061 1940//11060 1944//11059 
-f 1870//11064 1944//11063 1949//11062 
-f 1870//11067 1949//11066 1950//11065 
-f 2141//11070 2142//11069 1869//11068 
-f 2061//11073 2062//11072 2141//11071 
-f 2059//11076 2060//11075 2061//11074 
-f 2059//11079 2061//11078 2141//11077 
-f 2057//11082 2058//11081 2059//11080 
-f 2052//11085 2054//11084 2057//11083 
-f 2052//11088 2057//11087 2059//11086 
-f 2265//11091 2051//11090 2266//11089 
-f 2268//11094 2267//11093 2059//11092 
-f 2053//11097 2059//11096 2141//11095 
-f 2053//11100 2141//11099 1869//11098 
-f 2053//11103 1869//11102 1870//11101 
-f 2063//11106 2053//11105 1870//11104 
-f 2063//11109 1870//11108 1950//11107 
-f 2063//11112 1950//11111 1951//11110 
-f 2074//11115 2065//11114 2064//11113 
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-f 2066//11121 2074//11120 2064//11119 
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-f 2070//11127 2066//11126 2064//11125 
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-f 1951//11178 1954//11177 2047//11176 
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-f 2044//11187 2272//11186 2271//11185 
-f 2044//11190 2048//11189 1954//11188 
-f 2043//11193 2044//11192 1954//11191 
-f 2043//11196 1954//11195 1955//11194 
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-f 2041//11202 2043//11201 1955//11200 
-f 2041//11205 1955//11204 1956//11203 
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-f 2038//11211 1956//11210 1957//11209 
-f 1860//11214 2037//11213 2038//11212 
-f 1860//11217 2038//11216 1957//11215 
-f 1860//11220 1957//11219 2026//11218 
-f 1860//11223 2026//11222 2028//11221 
-f 1860//11226 2028//11225 1862//11224 
-f 1889//11229 1878//11228 1884//11227 
-f 1891//11232 1878//11231 1889//11230 
-f 1895//11235 1878//11234 1891//11233 
-f 1896//11238 1878//11237 1895//11236 
-f 1896//11241 1892//11240 1878//11239 
-f 1896//11244 1897//11243 1892//11242 
-f 1898//11247 1897//11246 1896//11245 
-f 1900//11250 1897//11249 1898//11248 
-f 1900//11253 1899//11252 1897//11251 
-f 1900//11256 1901//11255 1899//11254 
-f 1880//11259 1882//11258 1884//11257 
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-f 2156//11265 1880//11264 1884//11263 
-f 2151//11268 2152//11267 2156//11266 
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-f 2147//11274 2151//11273 2156//11272 
-f 2147//11277 1884//11276 1878//11275 
-f 2147//11280 2156//11279 1884//11278 
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-f 1877//11298 1876//11297 1875//11296 
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-f 1888//11355 1881//11354 2157//11353 
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-f 1893//11367 1888//11366 1922//11365 
-f 1893//11370 1922//11369 1886//11368 
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-f 1912//11382 1908//11381 1902//11380 
-f 1911//11385 1908//11384 1912//11383 
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-f 1934//11409 2108//11408 1913//11407 
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-f 2088//11427 2090//11426 2092//11425 
-f 2088//11430 2092//11429 1934//11428 
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-f 2075//11445 2079//11444 2083//11443 
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-f 1902//11454 2083//11453 2088//11452 
-f 1902//11457 2088//11456 1913//11455 
-f 1902//11460 1908//11459 1905//11458 
-f 1902//11463 1905//11462 1904//11461 
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-f 2133//11535 2127//11534 2105//11533 
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-f 2100//11541 2133//11540 2105//11539 
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-f 2100//11547 2102//11546 2101//11545 
-f 1873//11550 1886//11549 1887//11548 
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-f 1920//11559 1887//11558 1922//11557 
-f 2018//11562 1865//11561 1863//11560 
-f 2099//11565 1864//11564 1865//11563 
-f 1935//11568 1861//11567 2099//11566 
-f 2099//11571 1861//11570 1864//11569 
-f 2163//11574 2162//11573 2161//11572 
-f 2014//11577 2015//11576 2012//11575 
-f 1872//11580 1873//11579 2150//11578 
-f 1980//11583 1979//11582 1978//11581 
-f 2072//11586 2055//11585 2074//11584 
-f 1917//11589 1928//11588 1916//11587 
-f 2042//11592 1929//11591 1930//11590 
-f 1929//11595 2042//11594 2038//11593 
-f 2164//11598 2119//11597 2123//11596 
-f 1944//11601 1941//11600 1943//11599 
-f 1915//11604 1903//11603 1905//11602 
-f 1903//11607 1915//11606 1902//11605 
-f 1910//11610 1906//11609 1909//11608 
-f 1905//11613 1906//11612 2165//11611 
-f 1953//11616 1951//11615 2166//11614 
-f 2128//11619 2129//11618 2099//11617 
-f 2143//11622 2146//11621 2150//11620 
-f 1982//11625 1866//11624 2167//11623 
-f 1960//11628 1984//11627 1982//11626 
-f 1962//11631 1975//11630 1973//11629 
-f 2056//11634 2054//11633 2055//11632 
-f 2056//11637 2055//11636 2072//11635 
-f 1924//11640 1928//11639 1923//11638 
-f 1924//11643 2142//11642 2140//11641 
-f 2143//11646 1867//11645 1868//11644 
-f 2143//11649 2168//11648 2167//11647 
-f 2042//11652 2040//11651 2041//11650 
-f 2042//11655 2088//11654 2040//11653 
-f 2171//11658 2170//11657 2169//11656 
-f 2173//11661 2172//11660 2169//11659 
-f 2175//11664 2174//11663 2160//11662 
-f 2178//11667 2177//11666 2176//11665 
-f 2169//11670 2172//11669 2171//11668 
-f 2180//11673 2179//11672 2175//11671 
-f 2182//11676 1941//11675 2181//11674 
-f 2185//11679 2184//11678 2183//11677 
-f 2011//11682 2012//11681 2008//11680 
-f 2186//11685 2178//11684 2176//11683 
-f 1995//11688 1992//11687 1994//11686 
-f 2189//11691 2188//11690 2187//11689 
-f 2182//11694 2181//11693 2190//11692 
-f 2124//11697 2164//11696 2123//11695 
-f 2193//11700 2192//11699 2191//11698 
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 # 0 polygons - 799 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/RightGripperYawLink.obj b/robots/alex_description/meshes/cycloidal_arm/RightGripperYawLink.obj
index 29b9d08..b0f26c6 100755
--- a/robots/alex_description/meshes/cycloidal_arm/RightGripperYawLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/RightGripperYawLink.obj
@@ -3101,875 +3101,874 @@ o N17_24_P03_01_Barret_clamp_ring
 g N17_24_P03_01_Barret_clamp_ring
 usemtl Material__183
 s 1
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 # 0 polygons - 870 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/RightWristRollLink.obj b/robots/alex_description/meshes/cycloidal_arm/RightWristRollLink.obj
index 128304f..afc2025 100755
--- a/robots/alex_description/meshes/cycloidal_arm/RightWristRollLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/RightWristRollLink.obj
@@ -8806,2472 +8806,2472 @@ o N17_24_P04_01_L_Motor_housing_wrist_twist
 g N17_24_P04_01_L_Motor_housing_wrist_twist
 usemtl wire_159170179
 s 1
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 #
@@ -20012,1351 +20012,1351 @@ o N17_24_P03_08_L_Wrist_Link_Cover_Inside
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-f 2112//11271 2162//11270 2161//11269 
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-f 2167//11277 2166//11276 2117//11275 
-f 2143//11280 2141//11279 2168//11278 
-f 1858//11283 2002//11282 2144//11281 
-f 2171//11286 2170//11285 2169//11284 
-f 1984//11289 1985//11288 1978//11287 
-f 2174//11292 2173//11291 2172//11290 
-f 2130//11295 2176//11294 2175//11293 
-f 2125//11298 2177//11297 2127//11296 
-f 2180//11301 2179//11300 2178//11299 
-f 2183//11304 2182//11303 2181//11302 
-f 2105//11307 2012//11306 2005//11305 
-f 2115//11310 2184//11309 2114//11308 
-f 2120//11313 2186//11312 2185//11311 
-f 2189//11316 2188//11315 2187//11314 
-f 2192//11319 2191//11318 2190//11317 
-f 2195//11322 2194//11321 2193//11320 
-f 2196//11325 2112//11324 2113//11323 
-f 2199//11328 2198//11327 2197//11326 
-f 2202//11331 2201//11330 2200//11329 
-f 2205//11334 2204//11333 2203//11332 
-f 2208//11337 2207//11336 2206//11335 
-f 2155//11340 2156//11339 2209//11338 
-f 2212//11343 2211//11342 2210//11341 
-f 2164//11346 2213//11345 2163//11344 
-f 2123//11349 2124//11348 2214//11347 
-f 2217//11352 2216//11351 2215//11350 
-f 2220//11355 2219//11354 2218//11353 
-f 2223//11358 2222//11357 2221//11356 
-f 2226//11361 2225//11360 2224//11359 
-f 2228//11364 2227//11363 2208//11362 
-f 2167//11367 2117//11366 2070//11365 
-f 1876//11370 1977//11369 2064//11368 
-f 1933//11373 1922//11372 2229//11371 
-f 2230//11376 2056//11375 2059//11374 
-f 2142//11379 2231//11378 2141//11377 
-f 2232//11382 2211//11381 2212//11380 
-f 2235//11385 2234//11384 2233//11383 
-f 2238//11388 2237//11387 2236//11386 
-f 2240//11391 2145//11390 2239//11389 
-f 2243//11394 2242//11393 2241//11392 
-f 2245//11397 2116//11396 2244//11395 
-f 1908//11400 1910//11399 1907//11398 
-f 2248//11403 2247//11402 2246//11401 
-f 2249//11406 2084//11405 2083//11404 
-f 2252//11409 2251//11408 2250//11407 
-f 2253//11412 2194//11411 2195//11410 
-f 2048//11415 2254//11414 2046//11413 
-f 2181//11418 2255//11417 2183//11416 
-f 2173//11421 2174//11420 2256//11419 
-f 2257//11424 2227//11423 2228//11422 
-f 2076//11427 2074//11426 2075//11425 
-f 2259//11430 2258//11429 2128//11428 
-f 2158//11433 2110//11432 2260//11431 
-f 2262//11436 2261//11435 2246//11434 
-f 2265//11439 2264//11438 2263//11437 
-f 2266//11442 2137//11441 2134//11440 
-f 2268//11445 2267//11444 2266//11443 
-f 2079//11448 2077//11447 2078//11446 
-f 2269//11451 2191//11450 2192//11449 
-f 2272//11454 2271//11453 2270//11452 
-f 2274//11457 2273//11456 2219//11455 
-f 2276//11460 2275//11459 2199//11458 
-f 2279//11463 2278//11462 2277//11461 
-f 2282//11466 2281//11465 2280//11464 
-f 2065//11469 2284//11468 2283//11467 
-f 2287//11472 2286//11471 2285//11470 
-f 2289//11475 2193//11474 2288//11473 
-f 2292//11478 2291//11477 2290//11476 
-f 2120//11481 2118//11480 2293//11479 
-f 2294//11484 2251//11483 2252//11482 
-f 2297//11487 2296//11486 2295//11485 
-f 2299//11490 2235//11489 2298//11488 
-f 2146//11493 2301//11492 2300//11491 
-f 2090//11496 2087//11495 2088//11494 
-f 2224//11499 1876//11498 2095//11497 
-f 2304//11502 2303//11501 2302//11500 
-f 2198//11505 2305//11504 2197//11503 
-f 2307//11508 2306//11507 2278//11506 
-f 2161//11511 2162//11510 2306//11509 
-f 2309//11514 2308//11513 2230//11512 
-f 2100//11517 2103//11516 2102//11515 
-f 2205//11520 2203//11519 2310//11518 
-f 2313//11523 2312//11522 2311//11521 
-f 2118//11526 2315//11525 2314//11524 
-f 2318//11529 2317//11528 2316//11527 
-f 2320//11532 2112//11531 2319//11530 
-f 2115//11535 2321//11534 2184//11533 
-f 2323//11538 2322//11537 2254//11536 
-f 2225//11541 1876//11540 2224//11539 
-f 2225//11544 1977//11543 1876//11542 
-f 2296//11547 1922//11546 2295//11545 
-f 1922//11550 2296//11549 2229//11548 
-f 2324//11553 2167//11552 2070//11551 
-f 2326//11556 2123//11555 2325//11554 
-f 2328//11559 2327//11558 2285//11557 
-f 2231//11562 2145//11561 2240//11560 
-f 1869//11565 1866//11564 1868//11563 
-f 2330//11568 2329//11567 2308//11566 
-f 2222//11571 2041//11570 2221//11569 
-f 2265//11574 2263//11573 2331//11572 
-f 2334//11577 2333//11576 2332//11575 
-f 2036//11580 2037//11579 2034//11578 
-f 2337//11583 2336//11582 2335//11581 
-f 2130//11586 2338//11585 2129//11584 
-f 2032//11589 2031//11588 2029//11587 
-f 2341//11592 2340//11591 2339//11590 
-f 2344//11595 2343//11594 2342//11593 
-f 2347//11598 2346//11597 2345//11596 
-f 2119//11601 2315//11600 2118//11599 
-f 2348//11604 2220//11603 2218//11602 
-f 2116//11607 2114//11606 2244//11605 
-f 2351//11610 2350//11609 2349//11608 
-f 2326//11613 2353//11612 2352//11611 
-f 2354//11616 2124//11615 2122//11614 
-f 2158//11619 2111//11618 2160//11617 
-f 2108//11622 2071//11621 2072//11620 
-f 2333//11625 2334//11624 2223//11623 
-f 2229//11628 2226//11627 1933//11626 
-f 2356//11631 2355//11630 2185//11629 
-f 2184//11634 2196//11633 2113//11632 
-f 2357//11637 2124//11636 2354//11635 
-f 2358//11640 2270//11639 2271//11638 
-f 2192//11643 2188//11642 2359//11641 
-f 2362//11646 2361//11645 2360//11644 
-f 2364//11649 2298//11648 2363//11647 
-f 2149//11652 2150//11651 2299//11650 
-f 2366//11655 2365//11654 2256//11653 
-f 2362//11658 2367//11657 2361//11656 
-f 2369//11661 2368//11660 2183//11659 
-f 2371//11664 2370//11663 2175//11662 
-f 1896//11667 2372//11666 1889//11665 
-f 2375//11670 2374//11669 2373//11668 
-f 2378//11673 2377//11672 2376//11671 
-f 2379//11676 2303//11675 2304//11674 
-f 2180//11679 2178//11678 2380//11677 
-f 2324//11682 2257//11681 2228//11680 
-f 2162//11685 2142//11684 2381//11683 
-f 2286//11688 2287//11687 2193//11686 
-f 2384//11691 2383//11690 2382//11689 
-f 2126//11694 2243//11693 2241//11692 
-f 2321//11697 2196//11696 2184//11695 
-f 2385//11700 2253//11699 2322//11698 
-f 2388//11703 2387//11702 2386//11701 
-f 2390//11706 2389//11705 2381//11704 
-f 2392//11709 2312//11708 2391//11707 
-f 2393//11712 2311//11711 2312//11710 
-f 2395//11715 2133//11714 2394//11713 
-f 2396//11718 2128//11717 2394//11716 
-f 2100//11721 2099//11720 2098//11719 
-f 1864//11724 1862//11723 1863//11722 
-f 2397//11727 2116//11726 2245//11725 
-f 2331//11730 2263//11729 2398//11728 
-f 2400//11733 2208//11732 2399//11731 
-f 2402//11736 2401//11735 2228//11734 
-f 2165//11739 2163//11738 2172//11737 
-f 2403//11742 2270//11741 2358//11740 
-f 2406//11745 2405//11744 2404//11743 
-f 2406//11748 2407//11747 2405//11746 
-f 2409//11751 2408//11750 2333//11749 
-f 2408//11754 2409//11753 2092//11752 
-f 2412//11757 2411//11756 2410//11755 
-f 2411//11760 2413//11759 2410//11758 
-f 2348//11763 2218//11762 2119//11761 
-f 2217//11766 2215//11765 2185//11764 
-f 2002//11769 2202//11768 2144//11767 
-f 2414//11772 2145//11771 2144//11770 
-f 2190//11775 2117//11774 2166//11773 
-f 2214//11778 2271//11777 2272//11776 
-f 2389//11781 2390//11780 2388//11779 
-f 2279//11784 2375//11783 2415//11782 
-f 2417//11787 2416//11786 2316//11785 
-f 2419//11790 2418//11789 2210//11788 
-f 2264//11793 2115//11792 2263//11791 
-f 2115//11796 2264//11795 2420//11794 
-f 2292//11799 2290//11798 2421//11797 
-f 2423//11802 2125//11801 2422//11800 
-f 2382//11805 2424//11804 1938//11803 
-f 2426//11808 2425//11807 2171//11806 
-f 2110//11811 1896//11810 1902//11809 
-f 2161//11814 2306//11813 2307//11812 
-f 2429//11817 2428//11816 2427//11815 
-f 2358//11820 2271//11819 2430//11818 
-f 2299//11823 2150//11822 2431//11821 
-f 2235//11826 2299//11825 2432//11824 
-f 2435//11829 2434//11828 2433//11827 
-f 2317//11832 2318//11831 2127//11830 
-f 2436//11835 2291//11834 2241//11833 
-f 2437//11838 2397//11837 2245//11836 
-f 2113//11841 2108//11840 2107//11839 
-f 2283//11844 2216//11843 2217//11842 
-f 2174//11847 2438//11846 2274//11845 
-f 2347//11850 2281//11849 2346//11848 
-f 2386//11853 2168//11852 2439//11851 
-f 2236//11856 2240//11855 2440//11854 
-f 2248//11859 2441//11858 2247//11857 
-f 2441//11862 2442//11861 2333//11860 
-f 2068//11865 2074//11864 2070//11863 
-f 2070//11868 2443//11867 2324//11866 
-f 2407//11871 2444//11870 1866//11869 
-f 2444//11874 1862//11873 1864//11872 
-f 2445//11877 2122//11876 2352//11875 
-f 2210//11880 2418//11879 2212//11878 
-f 2381//11883 2142//11882 2143//11881 
-f 2381//11886 2143//11885 2390//11884 
-f 2447//11889 2349//11888 2446//11887 
-f 2449//11892 2448//11891 2447//11890 
-f 2359//11895 2188//11894 2189//11893 
-f 2077//11898 1963//11897 1965//11896 
-f 1978//11901 2451//11900 2450//11899 
-f 2339//11904 2340//11903 2452//11902 
-f 2144//11907 2202//11906 2414//11905 
-f 2236//11910 2440//11909 2238//11908 
-f 2079//11913 2069//11912 2117//11911 
-f 2453//11916 2117//11915 2190//11914 
-f 2023//11919 2024//11918 2121//11917 
-f 2208//11922 2227//11921 2207//11920 
-f 2208//11925 2206//11924 2399//11923 
-f 2455//11928 2203//11927 2454//11926 
-f 2046//11931 2456//11930 2331//11929 
-f 2046//11934 2254//11933 2456//11932 
-f 2229//11937 2457//11936 1977//11935 
-f 1977//11940 2457//11939 2451//11938 
-f 2370//11943 2282//11942 2175//11941 
-f 2255//11946 2366//11945 2256//11944 
-f 2082//11949 2138//11948 2139//11947 
-f 2138//11952 2082//11951 2080//11950 
-f 2281//11955 2347//11954 2280//11953 
-f 2280//11958 2337//11957 2129//11956 
-f 2341//11961 2458//11960 2032//11959 
-f 2458//11964 2121//11963 2032//11962 
-f 2169//11967 2426//11966 2171//11965 
-f 2426//11970 2455//11969 2454//11968 
-f 2274//11973 2438//11972 2273//11971 
-f 2459//11976 2163//11975 2403//11974 
-f 2460//11979 2198//11978 2199//11977 
-f 2267//11982 2461//11981 2266//11980 
-f 2363//11985 2179//11984 2180//11983 
-f 2180//11988 2364//11987 2363//11986 
-f 2246//11991 2247//11990 2262//11989 
-f 2221//11994 2463//11993 2462//11992 
-f 2170//11997 2464//11996 2169//11995 
-f 2434//12000 2465//11999 2433//11998 
-f 2000//12003 2082//12002 2139//12001 
-f 2266//12006 2461//12005 2466//12004 
-f 2181//12009 2154//12008 2467//12007 
-f 2468//12012 2367//12011 2365//12010 
-f 2469//12015 2407//12014 2406//12013 
-f 2407//12018 2469//12017 2329//12016 
-f 2295//12021 1922//12020 1927//12019 
-f 2470//12024 2250//12023 2251//12022 
-f 2375//12027 2275//12026 2374//12025 
-f 2200//12030 2237//12029 2471//12028 
-f 1907//12033 2397//12032 2437//12031 
-f 2261//12036 2262//12035 2398//12034 
-f 2253//12039 2385//12038 2194//12037 
-f 2049//12042 2050//12041 2048//12040 
-f 2155//12045 2209//12044 2419//12043 
-f 2411//12048 2314//12047 2413//12046 
-f 2473//12051 2472//12050 2379//12049 
-f 2473//12054 2395//12053 1882//12052 
-f 2316//12057 2317//12056 2417//12055 
-f 2177//12060 2125//12059 2423//12058 
-f 2474//12063 2034//12062 2037//12061 
-f 2088//12066 2332//12065 2090//12064 
-f 2475//12069 1977//12068 2225//12067 
-f 2475//12072 2225//12071 2226//12070 
-f 1968//12075 1967//12074 2476//12073 
-f 2140//12078 1968//12077 2476//12076 
-f 2014//12081 2002//12080 2011//12079 
-f 2002//12084 2201//12083 2202//12082 
-f 2213//12087 2164//12086 2477//12085 
-f 2272//12090 2190//12089 2478//12088 
-f 2337//12093 2335//12092 2129//12091 
-f 2259//12096 2479//12095 2109//12094 
-f 2368//12099 2378//12098 2480//12097 
-f 2368//12102 2481//12101 2131//12100 
-f 2279//12105 2415//12104 2278//12103 
-f 2373//12108 2482//12107 2372//12106 
-f 2211//12111 2318//12110 2210//12109 
-f 2363//12114 2298//12113 2483//12112 
-f 2182//12117 2484//12116 2302//12115 
-f 2187//12120 2302//12119 2189//12118 
-f 2404//12123 2405//12122 2485//12121 
-f 2404//12126 2485//12125 2287//12124 
-f 2488//12129 2487//12128 2486//12127 
-f 2488//12132 2486//12131 2195//12130 
-f 2115//12135 2420//12134 2321//12133 
-f 2321//12138 2420//12137 2253//12136 
-f 2112//12141 2489//12140 2486//12139 
-f 2489//12144 2112//12143 2490//12142 
-f 2491//12147 2324//12146 2325//12145 
-f 2380//12150 2178//12149 2324//12148 
-f 2344//12153 2346//12152 2343//12151 
-f 2343//12156 2274//12155 2219//12154 
-f 2412//12159 2410//12158 2422//12157 
-f 2421//12162 2350//12161 2351//12160 
-f 2355//12165 2493//12164 2492//12163 
-f 2107//12168 2217//12167 2492//12166 
-f 2055//12171 2056//12170 2052//12169 
-f 2328//12174 2285//12173 2494//12172 
-f 2207//12177 2227//12176 2495//12175 
-f 2495//12180 2227//12179 2496//12178 
-f 2189//12183 2497//12182 2269//12181 
-f 2497//12186 2135//12185 2136//12184 
-f 2365//12189 2367//12188 2362//12187 
-f 2172//12192 2173//12191 2165//12190 
-f 2498//12195 2150//12194 2151//12193 
-f 2204//12198 2400//12197 2399//12196 
-f 2290//12201 2350//12200 2421//12199 
-f 2446//12204 2244//12203 2447//12202 
-f 2335//12207 2336//12206 2284//12205 
-f 2216//12210 2344//12209 2342//12208 
-f 2443//12213 2257//12212 2324//12211 
-f 2076//12216 2496//12215 2074//12214 
-f 2307//12219 1896//12218 2110//12217 
-f 2307//12222 2278//12221 1896//12220 
-f 2132//12225 2377//12224 2378//12223 
-f 2379//12228 2395//12227 2473//12226 
-f 2315//12231 2157//12230 2314//12229 
-f 2218//12234 2219//12233 2429//12232 
-f 2255//12237 2181//12236 2499//12235 
-f 2500//12240 2181//12239 2467//12238 
-f 2355//12243 2356//12242 2493//12241 
-f 2449//12246 2186//12245 2448//12244 
-f 2258//12249 2259//12248 2109//12247 
-f 2071//12252 2111//12251 2158//12250 
-f 2352//12255 2122//12254 2326//12253 
-f 2122//12258 2123//12257 2326//12256 
-f 2340//12261 1973//12260 2452//12259 
-f 1972//12264 1973//12263 2085//12262 
-f 2484//12267 2182//12266 2183//12265 
-f 2480//12270 2378//12269 2376//12268 
-f 2329//12273 2330//12272 2100//12271 
-f 2329//12276 2100//12275 2098//12274 
-f 2267//12279 2198//12278 2461//12277 
-f 2303//12282 2379//12281 2472//12280 
-f 2451//12285 2294//12284 2450//12283 
-f 2451//12288 2457//12287 2297//12286 
-f 2482//12291 2373//12290 2374//12289 
-f 2197//12294 2305//12293 2106//12292 
-f 2160//12297 2319//12296 2159//12295 
-f 2159//12300 2319//12299 2501//12298 
-f 2463//12303 2331//12302 2462//12301 
-f 2262//12306 2331//12305 2398//12304 
-f 2092//12309 2409//12308 2095//12307 
-f 2095//12312 2094//12311 2092//12310 
-f 2382//12315 2147//12314 2148//12313 
-f 2470//12318 2382//12317 2502//12316 
-f 2403//12321 2163//12320 2270//12319 
-f 2270//12324 2163//12323 2213//12322 
-f 2191//12327 2453//12326 2190//12325 
-f 2191//12330 2504//12329 2503//12328 
-f 2505//12333 2188//12332 2154//12331 
-f 2505//12336 2154//12335 2181//12334 
-f 2240//12339 2386//12338 2439//12337 
-f 2439//12342 2231//12341 2240//12340 
-f 2214//12345 2166//12344 2123//12343 
-f 2478//12348 2214//12347 2272//12346 
-f 2298//12351 2434//12350 2435//12349 
-f 2298//12354 2435//12353 2483//12352 
-f 1866//12357 1864//12356 1865//12355 
-f 1866//12360 2444//12359 1864//12358 
-f 2222//12363 2037//12362 2041//12361 
-f 2334//12366 2222//12365 2223//12364 
-f 2414//12369 2471//12368 2239//12367 
-f 2239//12372 2145//12371 2414//12370 
-f 2233//12375 2455//12374 2426//12373 
-f 2310//12378 2233//12377 2234//12376 
-f 2424//12381 2470//12380 2251//12379 
-f 2470//12384 2424//12383 2382//12382 
-f 2191//12387 2269//12386 2504//12385 
-f 2269//12390 1963//12389 2504//12388 
-f 2130//12393 2128//12392 2396//12391 
-f 2481//12396 2133//12395 2131//12394 
-f 2167//12399 2123//12398 2166//12397 
-f 2123//12402 2167//12401 2325//12400 
-f 2050//12405 2506//12404 2048//12403 
-f 2323//12408 2385//12407 2322//12406 
-f 2430//12411 2124//12410 2357//12409 
-f 2157//12414 2427//12413 2156//12412 
-f 2258//12417 2507//12416 2128//12415 
-f 2394//12420 2128//12419 2507//12418 
-f 2389//12423 2388//12422 2279//12421 
-f 2389//12426 2279//12425 2381//12424 
-f 2245//12429 2244//12428 2508//12427 
-f 2244//12432 2446//12431 2508//12430 
-f 2316//12435 2419//12434 2210//12433 
-f 2210//12438 2318//12437 2316//12436 
-f 2202//12441 2471//12440 2414//12439 
-f 2202//12444 2200//12443 2471//12442 
-f 2204//12447 2399//12446 2203//12445 
-f 2206//12450 2509//12449 2399//12448 
-f 2249//12453 2510//12452 2084//12451 
-f 2032//12456 2029//12455 2510//12454 
-f 2107//12459 2072//12458 2073//12457 
-f 2283//12462 2217//12461 2107//12460 
-f 2346//12465 2274//12464 2343//12463 
-f 2174//12468 2274//12467 2346//12466 
-f 2511//12471 2380//12470 2324//12469 
-f 2228//12474 2498//12473 2151//12472 
-f 2492//12477 2493//12476 2184//12475 
-f 2184//12480 2449//12479 2114//12478 
-f 2241//12483 2291//12482 2292//12481 
-f 2126//12486 2241//12485 2125//12484 
-f 2252//12489 2313//12488 2311//12487 
-f 2450//12492 2294//12491 2252//12490 
-f 2416//12495 2419//12494 2316//12493 
-f 2413//12498 2155//12497 2419//12496 
-f 2278//12501 2372//12500 1896//12499 
-f 2278//12504 2415//12503 2372//12502 
-f 2477//12507 2164//12506 2192//12505 
-f 2512//12510 2192//12509 2360//12508 
-f 2256//12513 2174//12512 2281//12511 
-f 2346//12516 2281//12515 2174//12514 
-f 2153//12519 2361//12518 2367//12517 
-f 2192//12522 2512//12521 2188//12520 
-f 2233//12525 2464//12524 2235//12523 
-f 2235//12528 2434//12527 2298//12526 
-f 2384//12531 1938//12530 1941//12529 
-f 1938//12534 2384//12533 2382//12532 
-f 2513//12537 2386//12536 2240//12535 
-f 2237//12540 2386//12539 2514//12538 
-f 2492//12543 2113//12542 2107//12541 
-f 2184//12546 2113//12545 2492//12544 
-f 2248//12549 2246//12548 1910//12547 
-f 1910//12552 2246//12551 1907//12550 
-f 2140//12555 2476//12554 2137//12553 
-f 2137//12558 2136//12557 2134//12556 
-f 2052//12561 2328//12560 2494//12559 
-f 2289//12564 2286//12563 2193//12562 
-f 2419//12567 2209//12566 2418//12565 
-f 2354//12570 2122//12569 2445//12568 
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 #
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 # 0 polygons - 794 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/RightWristYawLink.obj b/robots/alex_description/meshes/cycloidal_arm/RightWristYawLink.obj
index bc70dcc..195cf43 100755
--- a/robots/alex_description/meshes/cycloidal_arm/RightWristYawLink.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/RightWristYawLink.obj
@@ -395,114 +395,114 @@ o N17_24_P02_01_L_Forearm_Outside_structure
 g N17_24_P02_01_L_Forearm_Outside_structure
 usemtl Material__38
 s 1
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 # 0 polygons - 108 triangles
 
 #
@@ -1468,277 +1468,277 @@ o N17_24_P02_05_L_Forearm_Inside_structure_lid
 g N17_24_P02_05_L_Forearm_Inside_structure_lid
 usemtl Material__39
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 # 0 polygons - 271 triangles
 
 #
@@ -3491,484 +3491,484 @@ o N17_24_P02_06_L_Forearm_Inside_structure
 g N17_24_P02_06_L_Forearm_Inside_structure
 usemtl Material__40
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 # 0 polygons - 478 triangles
 
 #
@@ -4188,64 +4188,64 @@ o N17_24_P02_07_L_Forearm_Outside_structure_lid
 g N17_24_P02_07_L_Forearm_Outside_structure_lid
 usemtl Material__41
 s 1
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 # 0 polygons - 58 triangles
 
 #
@@ -6951,774 +6951,774 @@ o N17_24_P02_08_Forearm_Heatsink
 g N17_24_P02_08_Forearm_Heatsink
 usemtl Material__39
 s 1
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 # 0 polygons - 768 triangles
 
 #
@@ -12888,1471 +12888,1471 @@ o N17_24_P02_11_L_Forearm_cover_Outside
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-f 2183//10051 2066//10052 2122//10053 
-f 2066//10054 1899//10055 1910//10056 
-f 1885//10057 1715//10058 1829//10059 
-f 1785//10060 1715//10061 1854//10062 
-f 2046//10063 1950//10064 2055//10065 
-f 1746//10066 2064//10067 1707//10068 
-f 2104//10069 1783//10070 1954//10071 
-f 1678//10072 2179//10073 2008//10074 
-f 2054//10075 1731//10076 2039//10077 
-f 2194//10078 2121//10079 2081//10080 
-f 1854//10081 1970//10082 1909//10083 
-f 2078//10084 1930//10085 1909//10086 
-f 1677//10087 1786//10088 1881//10089 
-f 1749//10090 1786//10091 1677//10092 
-f 2139//10093 2163//10094 1990//10095 
-f 1874//10096 1782//10097 1981//10098 
-f 1920//10099 2076//10100 2147//10101 
-f 2053//10102 1687//10103 2000//10104 
-f 1680//10105 1707//10106 1789//10107 
-f 1789//10108 2145//10109 1680//10110 
-f 1790//10111 1852//10112 1961//10113 
-f 1969//10114 2217//10115 1985//10116 
-f 1681//10117 1707//10118 1791//10119 
-f 1791//10120 2106//10121 1681//10122 
-f 2191//10123 1743//10124 1974//10125 
-f 1871//10126 1995//10127 1708//10128 
-f 1894//10129 1705//10130 1793//10131 
-f 1793//10132 1766//10133 1706//10134 
-f 2084//10135 2165//10136 1801//10137 
-f 1935//10138 2157//10139 1904//10140 
-f 2197//10141 2130//10142 2021//10143 
-f 1912//10144 1795//10145 1836//10146 
-f 1951//10147 2032//10148 1796//10149 
-f 1975//10150 1720//10151 2009//10152 
-f 2218//10153 2003//10154 1952//10155 
-f 1846//10156 1825//10157 1797//10158 
-f 1922//10159 2155//10160 1956//10161 
-f 2112//10162 1866//10163 2133//10164 
-f 1799//10165 1744//10166 1685//10167 
-f 1799//10168 1685//10169 2011//10170 
-f 1705//10171 1800//10172 1793//10173 
-f 1800//10174 1705//10175 1799//10176 
-f 2180//10177 1888//10178 2014//10179 
-f 2161//10180 1943//10181 2098//10182 
-f 1803//10183 2012//10184 1802//10185 
-f 1751//10186 1863//10187 1802//10188 
-f 1710//10189 1803//10190 1691//10191 
-f 1710//10192 2012//10193 1803//10194 
-f 1804//10195 1756//10196 1810//10197 
-f 1947//10198 1756//10199 1804//10200 
-f 1882//10201 1687//10202 1785//10203 
-f 2000//10204 1687//10205 1805//10206 
-f 2108//10207 1938//10208 1924//10209 
-f 2208//10210 1758//10211 1806//10212 
-f 1783//10213 2024//10214 2008//10215 
-f 2008//10216 1732//10217 1783//10218 
-f 2151//10219 2085//10220 2207//10221 
-f 2081//10222 1808//10223 1957//10224 
-f 2057//10225 1724//10226 2113//10227 
-f 1906//10228 2005//10229 2113//10230 
-f 1823//10231 1810//10232 1746//10233 
-f 1684//10234 1972//10235 1897//10236 
-f 1723//10237 1961//10238 1811//10239 
-f 1945//10240 1968//10241 1723//10242 
-f 1677//10243 1738//10244 2150//10245 
-f 1677//10246 2150//10247 1853//10248 
-f 1683//10249 2032//10250 2152//10251 
-f 1683//10252 2152//10253 2036//10254 
-f 1914//10255 2106//10256 1791//10257 
-f 2155//10258 1814//10259 1956//10260 
-f 1697//10261 1775//10262 2045//10263 
-f 1923//10264 1824//10265 1953//10266 
-f 1725//10267 2056//10268 1737//10269 
-f 1725//10270 1892//10271 2056//10272 
-f 1696//10273 1817//10274 1979//10275 
-f 1696//10276 1707//10277 1817//10278 
-f 1688//10279 2115//10280 1762//10281 
-f 1818//10282 2001//10283 1762//10284 
-f 1819//10285 1682//10286 2092//10287 
-f 1682//10288 1819//10289 1884//10290 
-f 1722//10291 1849//10292 1820//10293 
-f 2118//10294 1820//10295 2072//10296 
-f 1952//10297 1739//10298 1925//10299 
-f 1821//10300 2082//10301 1739//10302 
-f 2117//10303 1712//10304 1822//10305 
-f 1822//10306 1712//10307 1776//10308 
-f 1681//10309 2033//10310 1823//10311 
-f 1823//10312 1707//10313 1681//10314 
-f 2038//10315 1913//10316 2148//10317 
-f 1824//10318 2050//10319 1988//10320 
-f 1934//10321 2096//10322 1825//10323 
-f 2111//10324 1783//10325 1926//10326 
-f 2130//10327 1826//10328 2021//10329 
-f 1919//10330 2173//10331 1865//10332 
-f 1827//10333 1745//10334 1737//10335 
-f 1962//10336 1827//10337 2027//10338 
-f 2100//10339 2006//10340 2030//10341 
-f 1828//10342 2134//10343 2140//10344 
-f 1829//10345 1873//10346 1688//10347 
-f 1688//10348 1707//10349 1829//10350 
-f 1975//10351 2009//10352 1750//10353 
-f 1948//10354 1750//10355 2168//10356 
-f 2222//10357 2019//10358 1756//10359 
-f 1938//10360 1711//10361 1924//10362 
-f 1868//10363 1931//10364 2041//10365 
-f 1743//10366 1832//10367 1974//10368 
-f 2132//10369 2070//10370 1833//10371 
-f 1996//10372 2070//10373 1842//10374 
-f 1834//10375 1707//10376 1744//10377 
-f 1834//10378 1744//10379 1929//10380 
-f 2180//10381 1983//10382 1888//10383 
-f 1984//10384 1835//10385 1721//10386 
-f 2156//10387 1689//10388 1716//10389 
-f 1795//10390 1689//10391 1836//10392 
-f 1893//10393 1837//10394 1761//10395 
-f 1677//10396 1837//10397 2089//10398 
-f 1766//10399 1838//10400 1706//10401 
-f 1789//10402 2175//10403 1766//10404 
-f 1839//10405 2158//10406 1771//10407 
-f 1886//10408 1771//10409 2048//10410 
-f 1840//10411 2091//10412 1977//10413 
-f 1751//10414 2091//10415 1840//10416 
-f 1999//10417 1686//10418 2146//10419 
-f 1793//10420 1841//10421 2146//10422 
-f 2042//10423 1846//10424 1842//10425 
-f 1918//10426 1996//10427 1842//10428 
-f 1684//10429 1891//10430 2200//10431 
-f 2200//10432 1874//10433 1684//10434 
-f 2185//10435 2077//10436 1925//10437 
-f 1976//10438 1818//10439 1768//10440 
-f 1948//10441 2168//10442 1845//10443 
-f 1723//10444 1845//10445 1961//10446 
-f 1797//10447 1700//10448 1846//10449 
-f 1842//10450 2051//10451 1700//10452 
-f 1953//10453 1718//10454 2093//10455 
-f 1989//10456 1769//10457 1932//10458 
-f 1695//10459 1848//10460 1820//10461 
-f 1695//10462 1850//10463 1848//10464 
-f 1820//10465 1849//10466 1719//10467 
-f 1849//10468 1991//10469 1719//10470 
-f 1727//10471 1848//10472 1850//10473 
-f 1727//10474 1850//10475 1691//10476 
-f 1969//10477 1851//10478 1884//10479 
-f 1682//10480 1851//10481 1905//10482 
-f 2088//10483 1755//10484 2184//10485 
-f 1969//10486 1884//10487 2217//10488 
-f 2025//10489 1853//10490 1736//10491 
-f 2072//10492 1901//10493 2105//10494 
-f 1854//10495 1715//10496 1781//10497 
-f 2025//10498 1854//10499 1781//10500 
-f 1712//10501 1855//10502 2011//10503 
-f 2117//10504 1855//10505 1712//10506 
-f 2001//10507 2099//10508 2037//10509 
-f 1703//10510 2210//10511 2167//10512 
-f 1939//10513 2069//10514 2004//10515 
-f 1690//10516 2211//10517 2004//10518 
-f 1782//10519 2058//10520 2055//10521 
-f 1858//10522 1707//10523 2064//10524 
-f 1756//10525 1859//10526 1810//10527 
-f 2153//10528 1835//10529 1984//10530 
-f 2082//10531 2206//10532 1739//10533 
-f 2206//10534 1925//10535 2052//10536 
-f 1861//10537 1693//10538 2044//10539 
-f 1861//10540 1738//10541 1693//10542 
-f 2101//10543 1895//10544 2015//10545 
-f 1770//10546 1701//10547 1978//10548 
-f 1802//10549 1863//10550 2107//10551 
-f 2144//10552 2097//10553 1988//10554 
-f 2208//10555 1806//10556 1900//10557 
-f 1777//10558 2131//10559 1864//10560 
-f 1865//10561 1749//10562 1702//10563 
-f 1702//10564 1826//10565 1865//10566 
-f 1866//10567 2194//10568 2081//10569 
-f 1866//10570 1937//10571 2133//10572 
-f 2220//10573 1916//10574 2142//10575 
-f 2174//10576 1821//10577 1867//10578 
-f 2135//10579 2129//10580 1868//10581 
-f 2039//10582 1731//10583 2063//10584 
-f 2084//10585 2109//10586 2198//10587 
-f 2086//10588 1740//10589 1983//10590 
-f 2183//10591 2122//10592 2035//10593 
-f 1764//10594 2116//10595 1724//10596 
-f 2162//10597 1708//10598 1792//10599 
-f 2162//10600 2220//10601 2142//10602 
-f 1872//10603 1717//10604 1691//10605 
-f 1902//10606 1717//10607 2040//10608 
-f 1715//10609 1873//10610 1829//10611 
-f 1785//10612 1873//10613 1715//10614 
-f 2058//10615 1782//10616 1874//10617 
-f 1787//10618 2163//10619 2139//10620 
-f 1924//10621 1711//10622 2224//10623 
-f 2125//10624 2043//10625 1823//10626 
-f 1778//10627 1699//10628 1876//10629 
-f 1778//10630 1876//10631 1695//10632 
-f 1898//10633 2205//10634 1683//10635 
-f 1683//10636 2205//10637 2171//10638 
-f 2159//10639 1965//10640 1878//10641 
-f 2048//10642 1771//10643 1735//10644 
-f 1687//10645 2053//10646 2193//10647 
-f 1763//10648 2115//10649 2083//10650 
-f 2176//10651 2018//10652 2215//10653 
-f 2055//10654 1880//10655 2046//10656 
-f 2173//10657 1726//10658 1837//10659 
-f 1919//10660 2102//10661 2173//10662 
-f 2138//10663 1687//10664 1882//10665 
-f 1955//10666 2138//10667 1882//10668 
-f 1691//10669 1883//10670 1725//10671 
-f 2029//10672 2079//10673 1883//10674 
-f 1755//10675 2088//10676 1884//10677 
-f 1852//10678 1884//10679 1704//10680 
-f 1885//10681 1749//10682 2160//10683 
-f 1715//10684 1885//10685 1781//10686 
-f 1886//10687 1839//10688 1771//10689 
-f 1839//10690 1886//10691 1713//10692 
-f 1887//10693 1765//10694 1708//10695 
-f 1708//10696 1995//10697 2073//10698 
-f 2098//10699 1993//10700 2161//10701 
-f 1983//10702 2068//10703 1888//10704 
-f 2143//10705 1889//10706 2005//10707 
-f 1889//10708 2192//10709 2108//10710 
-f 1847//10711 1890//10712 1878//10713 
-f 1847//10714 1989//10715 1890//10716 
-f 1891//10717 2180//10718 2014//10719 
-f 1984//10720 1721//10721 1891//10722 
-f 1892//10723 1765//10724 1887//10725 
-f 2063//10726 2020//10727 2178//10728 
-f 2089//10729 1837//10730 1893//10731 
-f 2089//10732 1893//10733 1693//10734 
-f 1894//10735 1793//10736 1706//10737 
-f 1706//10738 1705//10739 1894//10740 
-f 1895//10741 1926//10742 2015//10743 
-f 1895//10744 2003//10745 1934//10746 
-f 2081//10747 2121//10748 1808//10749 
-f 1896//10750 1982//10751 2065//10752 
-f 1859//10753 1897//10754 1810//10755 
-f 1810//10756 1897//10757 1746//10758 
-f 2036//10759 1767//10760 1898//10761 
-f 1767//10762 1890//10763 1898//10764 
-f 1752//10765 1899//10766 1679//10767 
-f 1899//10768 2181//10769 1679//10770 
-f 1864//10771 1900//10772 1777//10773 
-f 2022//10774 1900//10775 2127//10776 
-f 1848//10777 1734//10778 1901//10779 
-f 2105//10780 1901//10781 2067//10782 
-f 2069//10783 1779//10784 1902//10785 
-f 1902//10786 2211//10787 1690//10788 
-f 1754//10789 1903//10790 1929//10791 
-f 1754//10792 1817//10793 1903//10794 
-f 2165//10795 2011//10796 1993//10797 
-f 2157//10798 1691//10799 1904//10800 
-f 1851//10801 1969//10802 2034//10803 
-f 1745//10804 1905//10805 1737//10806 
-f 1724//10807 1906//10808 2113//10809 
-f 2035//10810 1889//10811 2143//10812 
-f 1757//10813 1907//10814 1680//10815 
-f 1907//10816 1757//10817 1691//10818 
-f 2121//10819 2194//10820 2029//10821 
-f 2039//10822 2178//10823 1908//10824 
-f 1909//10825 1785//10826 1854//10827 
-f 1882//10828 1785//10829 1909//10830 
-f 1910//10831 1899//10832 2157//10833 
-f 1910//10834 2157//10835 1935//10836 
-f 2171//10837 1985//10838 1911//10839 
-f 1830//10840 2171//10841 1911//10842 
-f 1733//10843 1912//10844 2102//10845 
-f 1912//10846 2059//10847 1795//10848 
-f 1913//10849 1827//10850 1967//10851 
-f 2027//10852 1827//10853 1913//10854 
-f 2010//10855 1856//10856 1814//10857 
-f 2155//10858 2010//10859 1814//10860 
-f 2176//10861 2215//10862 1776//10863 
-f 1928//10864 1776//10865 2090//10866 
-f 1692//10867 1867//10868 1916//10869 
-f 1692//10870 2082//10871 1821//10872 
-f 1686//10873 1917//10874 1691//10875 
-f 1917//10876 1686//10877 1999//10878 
-f 2094//10879 1918//10880 1842//10881 
-f 2003//10882 1918//10883 1960//10884 
-f 1826//10885 1919//10886 1865//10887 
-f 1919//10888 1826//10889 1994//10890 
-f 2132//10891 2053//10892 2070//10893 
-f 1920//10894 2115//10895 1763//10896 
-f 2196//10897 1824//10898 1923//10899 
-f 1824//10900 1921//10901 2050//10902 
-f 2133//10903 1922//10904 2112//10905 
-f 1864//10906 2131//10907 2219//10908 
-f 1962//10909 2027//10910 2100//10911 
-f 1923//10912 2045//10913 1775//10914 
-f 1806//10915 1924//10916 2224//10917 
-f 1758//10918 1924//10919 1806//10920 
-f 2077//10921 1768//10922 1925//10923 
-f 1925//10924 2189//10925 1952//10926 
-f 1926//10927 1895//10928 1729//10929 
-f 2111//10930 1926//10931 1729//10932 
-f 2150//10933 1738//10934 1998//10935 
-f 1927//10936 1812//10937 2118//10938 
-f 2139//10939 2060//10940 1787//10941 
-f 1776//10942 1928//10943 1822//10944 
-f 1705//10945 1929//10946 1799//10947 
-f 1929//10948 1744//10949 1799//10950 
-f 1753//10951 1930//10952 1939//10953 
-f 1930//10954 1753//10955 1882//10956 
-f 1973//10957 2149//10958 1832//10959 
-f 2149//10960 1844//10961 1832//10962 
-f 1989//10963 1932//10964 1890//10965 
-f 1890//10966 1932//10967 1840//10968 
-f 1680//10969 1933//10970 1757//10971 
-f 1757//10972 1933//10973 1691//10974 
-f 1729//10975 1895//10976 2049//10977 
-f 1825//10978 1729//10979 1934//10980 
-f 1904//10981 1794//10982 1935//10983 
-f 1794//10984 2017//10985 2061//10986 
-f 1936//10987 2066//10988 2116//10989 
-f 2074//10990 2181//10991 2151//10992 
-f 2177//10993 1866//10994 1698//10995 
-f 2057//10996 1698//10997 1764//10998 
-f 2019//10999 2187//11000 1938//11001 
-f 1944//11002 1831//11003 2192//11004 
-f 1779//11005 1939//11006 1727//11007 
-f 1779//11008 2069//11009 1939//11010 
-f 1800//11011 1940//11012 1841//11013 
-f 1940//11014 1800//11015 1691//11016 
-f 1941//11017 2147//11018 2076//11019 
-f 1996//11020 1918//11021 2203//11022 
-f 1769//11023 2095//11024 1942//11025 
-f 1863//11026 1769//11027 2097//11028 
-f 1742//11029 2117//11030 1980//11031 
-f 1888//11032 1943//11033 1742//11034 
-f 1740//11035 1944//11036 1869//11037 
-f 1869//11038 1944//11039 1889//11040 
-f 2087//11041 1945//11042 1723//11043 
-f 1819//11044 2092//11045 1811//11046 
-f 2107//11047 1946//11048 1802//11049 
-f 1946//11050 1678//11051 1807//11052 
-f 2222//11053 2187//11054 2019//11055 
-f 2043//11056 1947//11057 1804//11058 
-f 2031//11059 1723//11060 1948//11061 
-f 1723//11062 1968//11063 1948//11064 
-f 2155//11065 1748//11066 2010//11067 
-f 1949//11068 2022//11069 1748//11070 
-f 1707//11071 1950//11072 2046//11073 
-f 2080//11074 1707//11075 1858//11076 
-f 1813//11077 1951//11078 2036//11079 
-f 2032//11080 1951//11081 2152//11082 
-f 2188//11083 1952//11084 1821//11085 
-f 1952//11086 2003//11087 2166//11088 
-f 1953//11089 2045//11090 1923//11091 
-f 2093//11092 1815//11093 1953//11094 
-f 2050//11095 1921//11096 1954//11097 
-f 1954//11098 1783//11099 1732//11100 
-f 2211//11101 2138//11102 1955//11103 
-f 2004//11104 2211//11105 1955//11106 
-f 1922//11107 1956//11108 2112//11109 
-f 1731//11110 2135//11111 1868//11112 
-f 1808//11113 1764//11114 1957//11115 
-f 1698//11116 2195//11117 1764//11118 
-f 1958//11119 1786//11120 1865//11121 
-f 2173//11122 1958//11123 1865//11124 
-f 1959//11125 2048//11126 1767//11127 
-f 2036//11128 1959//11129 1767//11130 
-f 2094//11131 1960//11132 1918//11133 
-f 1960//11134 1700//11135 1797//11136 
-f 1961//11137 1774//11138 1811//11139 
-f 1961//11140 1755//11141 1774//11142 
-f 1745//11143 1827//11144 1962//11145 
-f 1968//11146 1745//11147 1962//11148 
-f 2118//11149 1812//11150 1963//11151 
-f 1963//11152 1849//11153 1722//11154 
-f 1964//11155 1783//11156 2111//11157 
-f 1964//11158 2024//11159 1783//11160 
-f 2093//11161 2169//11162 1847//11163 
-f 1965//11164 1847//11165 1878//11166 
-f 1966//11167 1687//11168 2193//11169 
-f 1687//11170 1966//11171 1785//11172 
-f 1701//11173 1967//11174 1737//11175 
-f 1913//11176 1967//11177 2120//11178 
-f 1682//11179 1968//11180 2092//11181 
-f 1682//11182 1745//11183 1968//11184 
-f 1969//11185 1737//11186 1905//11187 
-f 1877//11188 1977//11189 1969//11190 
-f 1970//11191 1709//11192 1909//11193 
-f 1970//11194 2067//11195 1709//11196 
-f 1760//11197 2126//11198 1971//11199 
-f 2040//11200 1760//11201 1971//11202 
-f 1972//11203 2064//11204 1746//11205 
-f 1897//11206 1972//11207 1746//11208 
-f 2041//11209 1931//11210 2170//11211 
-f 1743//11212 1973//11213 1832//11214 
-f 2191//11215 1974//11216 1792//11217 
-f 1792//11218 2220//11219 2162//11220 
-f 2158//11221 1796//11222 1975//11223 
-f 1796//11224 2032//11225 1975//11226 
-f 2037//11227 2099//11228 1844//11229 
-f 1844//11230 2099//11231 1768//11232 
-f 1977//11233 1737//11234 1969//11235 
-f 1691//11236 1737//11237 1977//11238 
-f 1862//11239 1978//11240 1871//11241 
-f 1978//11242 1862//11243 1770//11244 
-f 1705//11245 1979//11246 1754//11247 
-f 1705//11248 1696//11249 1979//11250 
-f 1980//11251 2117//11252 1822//11253 
-f 1980//11254 2139//11255 1990//11256 
-f 1874//11257 1981//11258 1684//11259 
-f 1981//11260 1972//11261 1684//11262 
-f 2065//11263 1982//11264 1679//11265 
-f 1752//11266 1679//11267 1982//11268 
-f 2180//11269 1835//11270 1983//11271 
-f 1835//11272 2086//11273 1983//11274 
-f 1859//11275 2153//11276 1984//11277 
-f 1859//11278 1984//11279 1897//11280 
-f 2217//11281 1790//11282 1985//11283 
-f 1911//11284 1985//11285 2062//11286 
-f 1986//11287 1852//11288 1704//11289 
-f 1852//11290 1986//11291 1961//11292 
-f 1736//11293 1987//11294 2025//11295 
-f 2067//11296 1987//11297 2105//11298 
-f 1988//11299 1732//11300 1678//11301 
-f 1678//11302 2144//11303 1988//11304 
-f 2169//11305 2093//11306 1718//11307 
-f 2095//11308 1718//11309 1942//11310 
-f 1843//11311 2014//11312 2103//11313 
-f 2103//11314 2013//11315 1843//11316 
-f 1693//11317 1991//11318 1849//11319 
-f 1693//11320 1893//11321 1991//11322 
-f 2101//11323 1871//11324 1992//11325 
-f 1992//11326 1871//11327 1708//11328 
-f 1801//11329 2165//11330 1993//11331 
-f 1801//11332 1993//11333 2098//11334 
-f 2059//11335 2172//11336 1795//11337 
-f 1795//11338 2172//11339 1826//11340 
-f 1978//11341 1747//11342 1995//11343 
-f 2073//11344 1995//11345 2123//11346 
-f 1996//11347 1833//11348 2070//11349 
-f 2076//11350 1996//11351 1941//11352 
-f 2214//11353 2202//11354 2219//11355 
-f 1997//11356 2113//11357 2005//11358 
-f 1998//11359 1759//11360 1812//11361 
-f 1812//11362 2150//11363 1998//11364 
-f 1841//11365 1917//11366 1999//11367 
-f 1841//11368 1999//11369 2146//11370 
-f 1788//11371 2000//11372 1964//11373 
-f 1788//11374 2053//11375 2000//11376 
-f 2210//11377 1703//11378 2001//11379 
-f 2001//11380 1703//11381 1762//11382 
-f 1772//11383 2002//11384 1836//11385 
-f 2002//11386 1772//11387 1761//11388 
-f 1797//11389 2003//11390 1960//11391 
-f 1934//11392 2003//11393 2096//11394 
-f 1955//11395 1857//11396 2004//11397 
-f 2004//11398 1857//11399 1939//11400 
-f 2108//11401 1924//11402 1758//11403 
-f 1758//11404 1997//11405 2005//11406 
-f 1828//11407 2006//11408 2134//11409 
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+f 1806//12718 2224//12719 1875//12720
 # 0 polygons - 1092 triangles
 
 #
@@ -19509,58 +19509,57 @@ o N17_24_P02_06_L_Forearm_Inside_structure001
 g N17_24_P02_06_L_Forearm_Inside_structure001
 usemtl Material__40
 s 1
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 # 0 polygons - 53 triangles
-
diff --git a/robots/alex_description/meshes/cycloidal_arm/nub.obj b/robots/alex_description/meshes/cycloidal_arm/nub.obj
index f1564b9..e8c7b8c 100755
--- a/robots/alex_description/meshes/cycloidal_arm/nub.obj
+++ b/robots/alex_description/meshes/cycloidal_arm/nub.obj
@@ -1,2792 +1,2792 @@
 # File units = meters
 mtllib nub.mtl
 g Stand In Nub Mesh
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-v 0 0 0.038 
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diff --git a/robots/alex_description/meshes/fb_palm_ref.obj b/robots/alex_description/meshes/fb_palm_ref.obj
index 1270649..853c808 100755
--- a/robots/alex_description/meshes/fb_palm_ref.obj
+++ b/robots/alex_description/meshes/fb_palm_ref.obj
@@ -37139,10601 +37139,10600 @@ o FB_palm_ref
 g FB_palm_ref
 usemtl wire_119119119
 s 1
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-
diff --git a/robots/alex_description/meshes/fb_palm_ref_mir.obj b/robots/alex_description/meshes/fb_palm_ref_mir.obj
index cfb4522..7f50939 100755
--- a/robots/alex_description/meshes/fb_palm_ref_mir.obj
+++ b/robots/alex_description/meshes/fb_palm_ref_mir.obj
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-f 1854//11455 1962//11456 978//11457 
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-f 1222//11464 1963//11465 1223//11466 
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-f 1803//11857 2005//11858 2002//11859 
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-f 1554//11875 2006//11876 1947//11877 
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-f 1842//11893 2008//11894 1862//11895 
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-f 1965//11905 2009//11906 1601//11907 
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-f 1281//11914 2009//11915 1844//11916 
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-f 1845//11926 2010//11927 1003//11928 
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-f 1969//11935 2011//11936 1866//11937 
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-f 1638//11944 2012//11945 1867//11946 
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-f 1622//11953 2013//11954 1318//11955 
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-f 2017//11983 2018//11984 1868//11985 
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-f 1391//12058 2025//12059 1889//12060 
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-f 1622//12121 2033//12122 1980//12123 
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-f 2026//12157 2037//12158 1993//12159 
-f 1993//12160 2037//12161 1894//12162 
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diff --git a/robots/alex_description/meshes/full_model_fused_no_wrist.obj b/robots/alex_description/meshes/full_model_fused_no_wrist.obj
index afb138c..f973590 100755
--- a/robots/alex_description/meshes/full_model_fused_no_wrist.obj
+++ b/robots/alex_description/meshes/full_model_fused_no_wrist.obj
@@ -26305,4 +26305,3 @@ f 8782 8767 8766
 f 8781 8786 8759
 f 8709 8687 8669
 # Vertices: 8797, normals: 0, texture coordinates: 0, faces: 17506
-
diff --git a/robots/alex_description/meshes/full_model_fused_with__wrist.obj b/robots/alex_description/meshes/full_model_fused_with__wrist.obj
index 00514ab..b1c6807 100755
--- a/robots/alex_description/meshes/full_model_fused_with__wrist.obj
+++ b/robots/alex_description/meshes/full_model_fused_with__wrist.obj
@@ -80093,4 +80093,3 @@ f 26675 24319 24320
 f 26675 24320 26676
 f 26676 24320 24321
 # Vertices: 26721, normals: 0, texture coordinates: 0, faces: 53370
-
diff --git a/robots/alex_description/meshes/idx-f1.obj b/robots/alex_description/meshes/idx-f1.obj
index 141b016..442e0d1 100755
--- a/robots/alex_description/meshes/idx-f1.obj
+++ b/robots/alex_description/meshes/idx-f1.obj
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-f 9//9 51//51 54//54 
-f 6//6 62//62 2//2 
-f 2//2 62//62 63//63 
-f 2//2 63//63 4//4 
-f 4//4 63//63 8//8 
-f 6//6 56//56 58//58 
-f 4//4 11//11 56//56 
-f 4//4 56//56 6//6 
-f 9//9 54//54 56//56 
-f 9//9 56//56 11//11 
-f 6//6 58//58 60//60 
-f 6//6 60//60 62//62 
+f 8//8 63//63 64//64
+f 8//8 64//64 9//9
+f 9//9 64//64 51//51
+f 11//11 4//4 8//8
+f 9//9 51//51 54//54
+f 6//6 62//62 2//2
+f 2//2 62//62 63//63
+f 2//2 63//63 4//4
+f 4//4 63//63 8//8
+f 6//6 56//56 58//58
+f 4//4 11//11 56//56
+f 4//4 56//56 6//6
+f 9//9 54//54 56//56
+f 9//9 56//56 11//11
+f 6//6 58//58 60//60
+f 6//6 60//60 62//62
 s 1
-f 61//61 65//65 62//62 
-f 62//62 65//65 63//63 
+f 61//61 65//65 62//62
+f 62//62 65//65 63//63
 s 8
-f 53//53 7//7 10//10 
-f 53//53 10//10 55//55 
-f 65//65 50//50 66//66 
-f 66//66 50//50 7//7 
-f 66//66 7//7 52//52 
-f 7//7 53//53 52//52 
-f 5//5 55//55 3//3 
-f 3//3 55//55 10//10 
-f 3//3 10//10 50//50 
-f 3//3 50//50 1//1 
-f 1//1 61//61 59//59 
-f 1//1 59//59 5//5 
-f 61//61 1//1 50//50 
-f 61//61 50//50 65//65 
-f 5//5 59//59 57//57 
-f 5//5 57//57 55//55 
+f 53//53 7//7 10//10
+f 53//53 10//10 55//55
+f 65//65 50//50 66//66
+f 66//66 50//50 7//7
+f 66//66 7//7 52//52
+f 7//7 53//53 52//52
+f 5//5 55//55 3//3
+f 3//3 55//55 10//10
+f 3//3 10//10 50//50
+f 3//3 50//50 1//1
+f 1//1 61//61 59//59
+f 1//1 59//59 5//5
+f 61//61 1//1 50//50
+f 61//61 50//50 65//65
+f 5//5 59//59 57//57
+f 5//5 57//57 55//55
 s 4
-f 64//64 66//66 51//51 
-f 51//51 66//66 52//52 
+f 64//64 66//66 51//51
+f 51//51 66//66 52//52
 s 1
-f 63//63 65//65 29//29 
-f 29//29 65//65 31//31 
+f 63//63 65//65 29//29
+f 29//29 65//65 31//31
 s 4
-f 66//66 64//64 27//27 
-f 66//66 27//27 28//28 
+f 66//66 64//64 27//27
+f 66//66 27//27 28//28
 s 8
-f 29//29 27//27 63//63 
-f 27//27 64//64 63//63 
-f 65//65 66//66 28//28 
-f 65//65 28//28 31//31 
+f 29//29 27//27 63//63
+f 27//27 64//64 63//63
+f 65//65 66//66 28//28
+f 65//65 28//28 31//31
 s 1
-f 67//67 68//68 69//69 
+f 67//67 68//68 69//69
 s 2
-f 67//67 69//69 70//70 
+f 67//67 69//69 70//70
 s 4
-f 70//70 69//69 71//71 
+f 70//70 69//69 71//71
 s 1
-f 72//72 73//73 74//74 
+f 72//72 73//73 74//74
 s 2
-f 72//72 74//74 75//75 
+f 72//72 74//74 75//75
 s 4
-f 75//75 74//74 76//76 
+f 75//75 74//74 76//76
 s 1
-f 77//77 78//78 79//79 
-f 80//80 81//81 82//82 
-f 80//80 82//82 83//83 
+f 77//77 78//78 79//79
+f 80//80 81//81 82//82
+f 80//80 82//82 83//83
 s 2
-f 83//83 82//82 84//84 
-f 83//83 84//84 85//85 
-f 85//85 84//84 86//86 
-f 85//85 86//86 87//87 
+f 83//83 82//82 84//84
+f 83//83 84//84 85//85
+f 85//85 84//84 86//86
+f 85//85 86//86 87//87
 s 1
-f 88//88 89//89 90//90 
-f 90//90 89//89 91//91 
+f 88//88 89//89 90//90
+f 90//90 89//89 91//91
 s 8
-f 92//92 88//88 90//90 
+f 92//92 88//88 90//90
 s 2
-f 92//92 93//93 94//94 
+f 92//92 93//93 94//94
 s 8
-f 89//89 94//94 91//91 
-f 91//91 94//94 93//93 
+f 89//89 94//94 91//91
+f 91//91 94//94 93//93
 s 2
-f 86//86 95//95 87//87 
-f 87//87 95//95 96//96 
-f 97//97 98//98 99//99 
-f 99//99 98//98 100//100 
+f 86//86 95//95 87//87
+f 87//87 95//95 96//96
+f 97//97 98//98 99//99
+f 99//99 98//98 100//100
 s 1
-f 99//99 100//100 101//101 
+f 99//99 100//100 101//101
 s 4
-f 101//101 100//100 81//81 
+f 101//101 100//100 81//81
 s 2
-f 101//101 81//81 80//80 
+f 101//101 81//81 80//80
 s 1
-f 97//97 102//102 98//98 
-f 98//98 102//102 103//103 
-f 104//104 105//105 106//106 
-f 106//106 105//105 107//107 
+f 97//97 102//102 98//98
+f 98//98 102//102 103//103
+f 104//104 105//105 106//106
+f 106//106 105//105 107//107
 s 2
-f 104//104 106//106 77//77 
+f 104//104 106//106 77//77
 s 4
-f 77//77 106//106 78//78 
+f 77//77 106//106 78//78
 s 2
-f 108//108 79//79 109//109 
-f 109//109 79//79 78//78 
+f 108//108 79//79 109//109
+f 109//109 79//79 78//78
 s 1
-f 108//108 109//109 110//110 
-f 108//108 110//110 111//111 
+f 108//108 109//109 110//110
+f 108//108 110//110 111//111
 s 2
-f 111//111 110//110 107//107 
-f 111//111 107//107 105//105 
+f 111//111 110//110 107//107
+f 111//111 107//107 105//105
 s 8
-f 78//78 102//102 97//97 
-f 78//78 97//97 109//109 
-f 102//102 78//78 96//96 
-f 96//96 78//78 106//106 
-f 106//106 87//87 96//96 
-f 107//107 83//83 85//85 
-f 107//107 85//85 106//106 
-f 106//106 85//85 87//87 
-f 110//110 101//101 80//80 
-f 110//110 80//80 107//107 
-f 107//107 80//80 83//83 
-f 97//97 99//99 109//109 
-f 109//109 99//99 110//110 
-f 110//110 99//99 101//101 
-f 105//105 84//84 82//82 
-f 84//84 105//105 104//104 
-f 84//84 104//104 86//86 
-f 98//98 108//108 100//100 
-f 108//108 98//98 79//79 
-f 111//111 81//81 100//100 
-f 111//111 100//100 108//108 
-f 105//105 82//82 111//111 
-f 111//111 82//82 81//81 
-f 86//86 104//104 95//95 
-f 95//95 104//104 77//77 
-f 95//95 77//77 103//103 
-f 79//79 98//98 103//103 
-f 79//79 103//103 77//77 
+f 78//78 102//102 97//97
+f 78//78 97//97 109//109
+f 102//102 78//78 96//96
+f 96//96 78//78 106//106
+f 106//106 87//87 96//96
+f 107//107 83//83 85//85
+f 107//107 85//85 106//106
+f 106//106 85//85 87//87
+f 110//110 101//101 80//80
+f 110//110 80//80 107//107
+f 107//107 80//80 83//83
+f 97//97 99//99 109//109
+f 109//109 99//99 110//110
+f 110//110 99//99 101//101
+f 105//105 84//84 82//82
+f 84//84 105//105 104//104
+f 84//84 104//104 86//86
+f 98//98 108//108 100//100
+f 108//108 98//98 79//79
+f 111//111 81//81 100//100
+f 111//111 100//100 108//108
+f 105//105 82//82 111//111
+f 111//111 82//82 81//81
+f 86//86 104//104 95//95
+f 95//95 104//104 77//77
+f 95//95 77//77 103//103
+f 79//79 98//98 103//103
+f 79//79 103//103 77//77
 s 2
-f 112//112 93//93 92//92 
+f 112//112 93//93 92//92
 s 1
-f 90//90 91//91 102//102 
-f 102//102 91//91 103//103 
+f 90//90 91//91 102//102
+f 102//102 91//91 103//103
 s 2
-f 96//96 95//95 112//112 
-f 112//112 95//95 93//93 
+f 96//96 95//95 112//112
+f 112//112 95//95 93//93
 s 8
-f 102//102 96//96 90//90 
-f 112//112 90//90 96//96 
-f 92//92 90//90 112//112 
-f 93//93 95//95 91//91 
-f 91//91 95//95 103//103 
+f 102//102 96//96 90//90
+f 112//112 90//90 96//96
+f 92//92 90//90 112//112
+f 93//93 95//95 91//91
+f 91//91 95//95 103//103
 s 1
-f 75//75 76//76 113//113 
+f 75//75 76//76 113//113
 s 2
-f 113//113 76//76 73//73 
+f 113//113 76//76 73//73
 s 4
-f 113//113 73//73 72//72 
+f 113//113 73//73 72//72
 s 1
-f 70//70 71//71 114//114 
+f 70//70 71//71 114//114
 s 2
-f 114//114 71//71 68//68 
+f 114//114 71//71 68//68
 s 4
-f 114//114 68//68 67//67 
+f 114//114 68//68 67//67
 s 1
-f 115//115 116//116 117//117 
-f 115//115 117//117 118//118 
+f 115//115 116//116 117//117
+f 115//115 117//117 118//118
 s 2
-f 119//119 116//116 120//120 
-f 120//120 116//116 115//115 
+f 119//119 116//116 120//120
+f 120//120 116//116 115//115
 s 16
-f 121//121 122//122 70//70 
-f 121//121 70//70 123//123 
+f 121//121 122//122 70//70
+f 121//121 70//70 123//123
 s 32
-f 123//123 70//70 119//119 
-f 123//123 119//119 120//120 
+f 123//123 70//70 119//119
+f 123//123 119//119 120//120
 s 2
-f 124//124 125//125 122//122 
-f 124//124 122//122 121//121 
+f 124//124 125//125 122//122
+f 124//124 122//122 121//121
 s 8
-f 76//76 115//115 118//118 
-f 76//76 118//118 73//73 
-f 115//115 76//76 120//120 
-f 120//120 76//76 71//71 
-f 73//73 118//118 126//126 
-f 73//73 126//126 74//74 
-f 74//74 126//126 127//127 
-f 74//74 68//68 76//76 
-f 76//76 68//68 71//71 
-f 69//69 124//124 121//121 
-f 69//69 121//121 123//123 
-f 69//69 123//123 71//71 
-f 71//71 123//123 120//120 
-f 69//69 68//68 124//124 
-f 124//124 68//68 74//74 
-f 124//124 74//74 127//127 
+f 76//76 115//115 118//118
+f 76//76 118//118 73//73
+f 115//115 76//76 120//120
+f 120//120 76//76 71//71
+f 73//73 118//118 126//126
+f 73//73 126//126 74//74
+f 74//74 126//126 127//127
+f 74//74 68//68 76//76
+f 76//76 68//68 71//71
+f 69//69 124//124 121//121
+f 69//69 121//121 123//123
+f 69//69 123//123 71//71
+f 71//71 123//123 120//120
+f 69//69 68//68 124//124
+f 124//124 68//68 74//74
+f 124//124 74//74 127//127
 s 2
-f 128//128 125//125 127//127 
-f 127//127 125//125 124//124 
+f 128//128 125//125 127//127
+f 127//127 125//125 124//124
 s 8
-f 113//113 72//72 129//129 
-f 129//129 72//72 128//128 
-f 114//114 119//119 70//70 
-f 119//119 75//75 116//116 
-f 113//113 117//117 116//116 
-f 113//113 116//116 75//75 
-f 114//114 75//75 119//119 
-f 70//70 122//122 67//67 
-f 129//129 117//117 113//113 
-f 128//128 72//72 125//125 
-f 125//125 72//72 67//67 
-f 67//67 72//72 114//114 
-f 114//114 72//72 75//75 
-f 67//67 122//122 125//125 
+f 113//113 72//72 129//129
+f 129//129 72//72 128//128
+f 114//114 119//119 70//70
+f 119//119 75//75 116//116
+f 113//113 117//117 116//116
+f 113//113 116//116 75//75
+f 114//114 75//75 119//119
+f 70//70 122//122 67//67
+f 129//129 117//117 113//113
+f 128//128 72//72 125//125
+f 125//125 72//72 67//67
+f 67//67 72//72 114//114
+f 114//114 72//72 75//75
+f 67//67 122//122 125//125
 s 2
-f 118//118 117//117 126//126 
-f 126//126 117//117 129//129 
-f 128//128 127//127 94//94 
-f 94//94 127//127 92//92 
+f 118//118 117//117 126//126
+f 126//126 117//117 129//129
+f 128//128 127//127 94//94
+f 94//94 127//127 92//92
 s 4
-f 126//126 129//129 88//88 
-f 88//88 129//129 89//89 
+f 126//126 129//129 88//88
+f 88//88 129//129 89//89
 s 8
-f 127//127 126//126 88//88 
-f 127//127 88//88 92//92 
-f 129//129 128//128 89//89 
-f 89//89 128//128 94//94 
+f 127//127 126//126 88//88
+f 127//127 88//88 92//92
+f 129//129 128//128 89//89
+f 89//89 128//128 94//94
 s 1
-f 130//130 131//131 132//132 
-f 132//132 131//131 133//133 
-f 132//132 133//133 134//134 
-f 132//132 134//134 135//135 
-f 136//136 137//137 135//135 
-f 135//135 134//134 136//136 
-f 137//137 136//136 138//138 
-f 137//137 138//138 139//139 
-f 140//140 141//141 142//142 
-f 142//142 141//141 143//143 
-f 142//142 143//143 139//139 
-f 139//139 143//143 137//137 
-f 140//140 142//142 144//144 
-f 140//140 144//144 145//145 
-f 145//145 144//144 146//146 
-f 145//145 146//146 147//147 
-f 148//148 149//149 146//146 
-f 146//146 149//149 147//147 
-f 149//149 148//148 150//150 
-f 150//150 151//151 149//149 
-f 150//150 152//152 151//151 
-f 151//151 152//152 153//153 
+f 130//130 131//131 132//132
+f 132//132 131//131 133//133
+f 132//132 133//133 134//134
+f 132//132 134//134 135//135
+f 136//136 137//137 135//135
+f 135//135 134//134 136//136
+f 137//137 136//136 138//138
+f 137//137 138//138 139//139
+f 140//140 141//141 142//142
+f 142//142 141//141 143//143
+f 142//142 143//143 139//139
+f 139//139 143//143 137//137
+f 140//140 142//142 144//144
+f 140//140 144//144 145//145
+f 145//145 144//144 146//146
+f 145//145 146//146 147//147
+f 148//148 149//149 146//146
+f 146//146 149//149 147//147
+f 149//149 148//148 150//150
+f 150//150 151//151 149//149
+f 150//150 152//152 151//151
+f 151//151 152//152 153//153
 s 2
-f 154//154 155//155 156//156 
-f 157//157 154//154 156//156 
+f 154//154 155//155 156//156
+f 157//157 154//154 156//156
 s 1
-f 158//158 159//159 160//160 
-f 158//158 160//160 161//161 
-f 161//161 160//160 162//162 
-f 162//162 160//160 163//163 
-f 164//164 165//165 158//158 
-f 161//161 164//164 158//158 
-f 158//158 166//166 167//167 
-f 167//167 168//168 158//158 
-f 158//158 168//168 159//159 
+f 158//158 159//159 160//160
+f 158//158 160//160 161//161
+f 161//161 160//160 162//162
+f 162//162 160//160 163//163
+f 164//164 165//165 158//158
+f 161//161 164//164 158//158
+f 158//158 166//166 167//167
+f 167//167 168//168 158//158
+f 158//158 168//168 159//159
 s 2
-f 162//169 163//163 169//170 
-f 161//161 162//169 170//171 
-f 170//171 162//169 169//170 
-f 161//161 170//171 164//172 
-f 164//172 170//171 171//173 
-f 164//172 171//173 165//165 
+f 162//169 163//163 169//170
+f 161//161 162//169 170//171
+f 170//171 162//169 169//170
+f 161//161 170//171 164//172
+f 164//172 170//171 171//173
+f 164//172 171//173 165//165
 s 1
-f 172//174 173//175 174//176 
+f 172//174 173//175 174//176
 s 2
-f 175//177 176//178 177//179 
-f 173//175 172//174 177//179 
-f 177//179 172//174 178//180 
-f 177//179 178//180 175//177 
+f 175//177 176//178 177//179
+f 173//175 172//174 177//179
+f 177//179 172//174 178//180
+f 177//179 178//180 175//177
 s 1
-f 179//181 180//182 172//174 
-f 179//181 172//174 174//176 
+f 179//181 180//182 172//174
+f 179//181 172//174 174//176
 s 4
-f 181//183 182//184 183//185 
-f 183//185 182//184 184//186 
-f 183//185 184//186 178//180 
-f 185//187 176//178 184//186 
-f 184//186 176//178 175//188 
-f 184//186 175//188 178//180 
+f 181//183 182//184 183//185
+f 183//185 182//184 184//186
+f 183//185 184//186 178//180
+f 185//187 176//178 184//186
+f 184//186 176//178 175//188
+f 184//186 175//188 178//180
 s 2
-f 183//189 178//180 172//174 
-f 172//174 181//183 183//189 
+f 183//189 178//180 172//174
+f 172//174 181//183 183//189
 s 8
-f 186//190 187//191 188//192 
-f 189//193 172//174 190//194 
-f 190//194 172//174 180//182 
-f 180//182 191//195 190//194 
+f 186//190 187//191 188//192
+f 189//193 172//174 190//194
+f 190//194 172//174 180//182
+f 180//182 191//195 190//194
 s 2
-f 192//196 185//187 193//197 
+f 192//196 185//187 193//197
 s 8
-f 193//197 185//187 184//186 
-f 184//186 182//198 193//197 
-f 193//197 182//198 181//183 
-f 193//197 181//183 189//193 
-f 189//193 181//183 172//174 
-f 186//190 190//194 191//195 
-f 186//190 191//195 187//191 
+f 193//197 185//187 184//186
+f 184//186 182//198 193//197
+f 193//197 182//198 181//183
+f 193//197 181//183 189//193
+f 189//193 181//183 172//174
+f 186//190 190//194 191//195
+f 186//190 191//195 187//191
 s 4
-f 194//199 195//200 196//201 
-f 196//201 195//200 197//202 
-f 198//203 199//204 195//200 
-f 199//204 197//202 195//200 
-f 200//205 194//199 196//201 
-f 196//201 166//166 200//205 
-f 200//205 166//166 158//158 
-f 200//205 158//158 201//206 
-f 201//206 158//158 165//165 
-f 201//206 165//165 171//207 
-f 171//207 170//171 201//206 
-f 201//206 170//171 169//170 
-f 201//206 169//170 202//208 
+f 194//199 195//200 196//201
+f 196//201 195//200 197//202
+f 198//203 199//204 195//200
+f 199//204 197//202 195//200
+f 200//205 194//199 196//201
+f 196//201 166//166 200//205
+f 200//205 166//166 158//158
+f 200//205 158//158 201//206
+f 201//206 158//158 165//165
+f 201//206 165//165 171//207
+f 171//207 170//171 201//206
+f 201//206 170//171 169//170
+f 201//206 169//170 202//208
 s 16
-f 202//208 169//170 203//209 
-f 203//209 169//170 185//187 
-f 185//187 192//196 203//209 
-f 203//209 192//196 204//210 
-f 203//209 204//210 205//211 
+f 202//208 169//170 203//209
+f 203//209 169//170 185//187
+f 185//187 192//196 203//209
+f 203//209 192//196 204//210
+f 203//209 204//210 205//211
 s 1
-f 203//209 206//212 207//213 
-f 207//213 206//212 208//214 
-f 206//212 203//209 205//211 
-f 207//213 208//214 209//215 
-f 209//215 208//214 210//216 
+f 203//209 206//212 207//213
+f 207//213 206//212 208//214
+f 206//212 203//209 205//211
+f 207//213 208//214 209//215
+f 209//215 208//214 210//216
 s 2
-f 209//215 200//205 207//213 
-f 207//213 200//205 201//206 
-f 207//213 201//206 203//209 
-f 203//209 201//206 202//208 
+f 209//215 200//205 207//213
+f 207//213 200//205 201//206
+f 207//213 201//206 203//209
+f 203//209 201//206 202//208
 s 16
-f 209//215 210//216 200//205 
-f 200//205 210//216 194//199 
+f 209//215 210//216 200//205
+f 200//205 210//216 194//199
 s 2
-f 195//200 186//190 198//203 
-f 198//203 186//190 188//192 
+f 195//200 186//190 198//203
+f 198//203 186//190 188//192
 s 1
-f 211//217 190//194 212//218 
-f 212//218 190//194 186//190 
-f 212//218 186//190 213//219 
-f 213//219 186//190 195//200 
-f 213//219 195//200 214//220 
-f 214//220 195//200 194//199 
+f 211//217 190//194 212//218
+f 212//218 190//194 186//190
+f 212//218 186//190 213//219
+f 213//219 186//190 195//200
+f 213//219 195//200 214//220
+f 214//220 195//200 194//199
 s 2
-f 213//219 214//220 215//221 
-f 216//222 215//221 217//223 
-f 215//221 214//220 217//223 
+f 213//219 214//220 215//221
+f 216//222 215//221 217//223
+f 215//221 214//220 217//223
 s 16
-f 211//217 214//220 210//216 
-f 211//217 210//216 218//224 
+f 211//217 214//220 210//216
+f 211//217 210//216 218//224
 s 2
-f 219//225 220//226 221//227 
-f 221//227 211//217 219//225 
-f 219//225 211//217 212//218 
-f 190//194 218//224 222//228 
+f 219//225 220//226 221//227
+f 221//227 211//217 219//225
+f 219//225 211//217 212//218
+f 190//194 218//224 222//228
 s 1
-f 192//196 223//229 224//230 
-f 192//196 224//230 204//210 
-f 222//228 218//224 223//229 
-f 225//231 223//229 218//224 
+f 192//196 223//229 224//230
+f 192//196 224//230 204//210
+f 222//228 218//224 223//229
+f 225//231 223//229 218//224
 s 4
-f 208//214 225//231 210//216 
-f 210//216 225//231 218//224 
-f 212//218 213//219 219//225 
-f 219//225 213//219 215//221 
-f 222//228 189//193 190//194 
+f 208//214 225//231 210//216
+f 210//216 225//231 218//224
+f 212//218 213//219 219//225
+f 219//225 213//219 215//221
+f 222//228 189//193 190//194
 s 32
-f 223//229 192//196 193//197 
-f 223//229 193//197 189//193 
-f 223//229 189//193 222//228 
+f 223//229 192//196 193//197
+f 223//229 193//197 189//193
+f 223//229 189//193 222//228
 s 4
-f 205//211 204//210 224//230 
-f 205//211 224//230 206//212 
-f 206//212 224//230 208//214 
-f 208//214 224//230 225//231 
-f 217//223 221//227 220//226 
-f 217//223 220//226 216//222 
-f 214//220 211//217 221//227 
-f 214//220 221//227 217//223 
+f 205//211 204//210 224//230
+f 205//211 224//230 206//212
+f 206//212 224//230 208//214
+f 208//214 224//230 225//231
+f 217//223 221//227 220//226
+f 217//223 220//226 216//222
+f 214//220 211//217 221//227
+f 214//220 221//227 217//223
 s 1
-f 220//226 219//225 216//222 
-f 216//222 219//225 215//221 
+f 220//226 219//225 216//222
+f 216//222 219//225 215//221
 s 4
-f 226//232 227//233 228//234 
-f 226//232 229//235 227//233 
-f 230//236 231//237 232//238 
-f 233//239 234//240 232//238 
-f 235//241 232//238 236//242 
-f 236//242 232//238 237//243 
-f 237//243 232//238 231//237 
-f 232//238 235//241 233//239 
-f 238//244 230//236 232//238 
-f 239//245 237//246 231//237 
-f 237//246 239//245 236//242 
-f 240//247 227//233 229//235 
-f 230//236 240//247 239//245 
-f 241//248 234//240 233//249 
-f 241//248 233//249 239//245 
-f 239//245 233//249 235//241 
-f 239//245 235//241 236//242 
-f 230//236 239//245 231//237 
-f 229//235 239//245 240//247 
-f 242//250 154//154 157//157 
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+f 226//232 229//235 227//233
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+f 241//248 234//240 233//249
+f 241//248 233//249 239//245
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+f 239//245 235//241 236//242
+f 230//236 239//245 231//237
+f 229//235 239//245 240//247
+f 242//250 154//154 157//157
 s 1
-f 243//251 244//252 245//253 
+f 243//251 244//252 245//253
 s 4
-f 242//250 243//251 245//253 
-f 246//254 157//157 247//255 
-f 247//255 157//157 248//256 
-f 248//256 157//157 249//257 
-f 249//257 157//157 250//258 
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+f 246//254 157//157 247//255
+f 247//255 157//157 248//256
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 s 1
-f 251//259 252//260 253//261 
+f 251//259 252//260 253//261
 s 4
-f 254//262 252//260 255//263 
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 s 2
-f 252//260 254//262 256//264 
-f 252//260 256//264 253//261 
+f 252//260 254//262 256//264
+f 252//260 256//264 253//261
 s 1
-f 251//259 253//261 257//265 
-f 251//259 257//265 245//253 
-f 251//259 245//253 244//252 
+f 251//259 253//261 257//265
+f 251//259 257//265 245//253
+f 251//259 245//253 244//252
 s 4
-f 258//266 248//256 249//267 
-f 247//268 248//256 259//269 
-f 259//269 248//256 258//266 
-f 254//262 255//263 259//269 
-f 259//269 246//254 247//268 
-f 250//258 258//266 249//267 
-f 259//269 258//266 254//262 
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+f 254//262 255//263 259//269
+f 259//269 246//254 247//268
+f 250//258 258//266 249//267
+f 259//269 258//266 254//262
 s 1
-f 260//270 261//271 262//272 
+f 260//270 261//271 262//272
 s 4
-f 137//137 263//273 264//274 
+f 137//137 263//273 264//274
 s 1
-f 260//270 265//275 261//271 
-f 264//274 266//276 265//275 
+f 260//270 265//275 261//271
+f 264//274 266//276 265//275
 s 2
-f 267//277 268//278 269//279 
+f 267//277 268//278 269//279
 s 4
-f 269//279 270//280 267//277 
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 s 1
-f 269//279 268//278 271//281 
-f 271//281 272//282 269//279 
-f 273//283 264//274 274//284 
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+f 271//281 272//282 269//279
+f 273//283 264//274 274//284
 s 4
-f 264//274 263//273 274//284 
+f 264//274 263//273 274//284
 s 1
-f 275//285 276//286 272//282 
-f 276//286 269//279 272//282 
-f 277//287 269//279 276//286 
+f 275//285 276//286 272//282
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 s 2
-f 278//288 279//289 275//285 
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 s 4
-f 263//273 280//290 274//284 
-f 280//290 278//288 274//284 
+f 263//273 280//290 274//284
+f 280//290 278//288 274//284
 s 1
-f 278//288 281//291 274//284 
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 s 4
-f 240//247 230//236 227//233 
-f 227//233 230//236 238//244 
-f 228//234 227//233 238//244 
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-f 228//234 282//292 283//293 
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+f 228//234 227//233 238//244
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 s 1
-f 284//294 266//276 267//277 
-f 267//277 266//276 264//274 
-f 284//294 265//275 266//276 
-f 284//294 285//295 265//275 
-f 265//275 285//295 261//271 
-f 261//271 285//295 286//296 
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-f 274//284 271//281 273//283 
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-f 275//285 272//282 281//291 
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-f 274//284 281//291 272//282 
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-f 268//278 264//274 273//283 
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 s 4
-f 255//263 252//260 251//259 
-f 255//263 251//259 244//252 
-f 255//263 244//252 259//269 
-f 259//269 244//252 243//251 
-f 246//254 259//269 243//251 
-f 246//254 243//251 242//250 
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+f 380//390 279//289 381//391
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+f 392//402 394//404 226//232
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+f 409//419 150//150 393//403
+f 153//153 410//420 151//151
+f 409//419 411//421 152//152
+f 152//152 411//421 153//153
+f 411//421 410//420 153//153
+f 412//422 411//421 283//293
+f 412//422 404//414 405//415
+f 405//415 410//420 412//422
+f 410//420 405//415 151//151
+f 409//419 393//403 392//402
+f 409//419 392//402 411//421
+f 411//421 392//402 283//293
+f 412//422 410//420 411//421
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+f 232//238 401//411 404//414
+f 400//410 402//412 385//395
+f 151//151 405//415 149//149
+f 147//147 149//149 408//418
+f 408//418 149//149 405//415
 s 2
-f 140//140 145//145 408//418 
+f 140//140 145//145 408//418
 s 4
-f 408//418 145//145 147//147 
-f 148//148 394//404 393//403 
-f 144//144 395//405 146//146 
-f 394//404 148//148 146//146 
-f 148//148 393//403 150//150 
+f 408//418 145//145 147//147
+f 148//148 394//404 393//403
+f 144//144 395//405 146//146
+f 394//404 148//148 146//146
+f 148//148 393//403 150//150
 s 1
-f 413//423 414//424 415//425 
-f 416//426 417//427 351//361 
-f 351//361 417//427 414//424 
-f 351//361 414//424 413//423 
+f 413//423 414//424 415//425
+f 416//426 417//427 351//361
+f 351//361 417//427 414//424
+f 351//361 414//424 413//423
 s 2
-f 351//361 413//423 352//362 
-f 360//370 352//362 413//423 
-f 418//428 360//370 413//423 
+f 351//361 413//423 352//362
+f 360//370 352//362 413//423
+f 418//428 360//370 413//423
 s 1
-f 418//428 413//423 198//203 
-f 418//428 364//374 360//370 
-f 418//428 419//429 364//374 
-f 419//429 343//353 364//374 
-f 358//368 416//426 351//361 
-f 420//430 416//426 358//368 
-f 421//431 420//430 358//368 
-f 358//368 357//367 421//431 
-f 341//351 343//353 419//429 
-f 310//320 341//351 419//429 
+f 418//428 413//423 198//203
+f 418//428 364//374 360//370
+f 418//428 419//429 364//374
+f 419//429 343//353 364//374
+f 358//368 416//426 351//361
+f 420//430 416//426 358//368
+f 421//431 420//430 358//368
+f 358//368 357//367 421//431
+f 341//351 343//353 419//429
+f 310//320 341//351 419//429
 s 4
-f 357//367 329//339 332//342 
+f 357//367 329//339 332//342
 s 1
-f 422//432 421//431 332//342 
-f 332//342 421//431 357//367 
-f 423//433 424//434 419//429 
-f 311//321 419//429 425//435 
-f 425//435 419//429 424//434 
-f 311//321 310//320 419//429 
-f 328//338 303//313 426//436 
+f 422//432 421//431 332//342
+f 332//342 421//431 357//367
+f 423//433 424//434 419//429
+f 311//321 419//429 425//435
+f 425//435 419//429 424//434
+f 311//321 310//320 419//429
+f 328//338 303//313 426//436
 s 4
-f 303//313 328//338 305//315 
+f 303//313 328//338 305//315
 s 1
-f 427//437 422//432 331//341 
-f 427//437 331//341 328//338 
-f 331//341 422//432 332//342 
-f 328//338 426//436 427//437 
-f 311//321 425//435 428//438 
-f 428//438 425//435 424//439 
-f 424//439 423//433 428//438 
-f 311//321 428//438 333//343 
-f 429//440 430//441 294//304 
-f 428//438 429//440 333//343 
-f 333//343 429//440 294//304 
-f 297//307 288//298 431//442 
-f 287//297 432//443 288//298 
-f 288//298 432//443 431//442 
+f 427//437 422//432 331//341
+f 427//437 331//341 328//338
+f 331//341 422//432 332//342
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+f 428//438 425//435 424//439
+f 424//439 423//433 428//438
+f 311//321 428//438 333//343
+f 429//440 430//441 294//304
+f 428//438 429//440 333//343
+f 333//343 429//440 294//304
+f 297//307 288//298 431//442
+f 287//297 432//443 288//298
+f 288//298 432//443 431//442
 s 4
-f 297//307 290//300 288//298 
+f 297//307 290//300 288//298
 s 1
-f 430//441 432//443 294//304 
-f 294//304 432//443 287//297 
+f 430//441 432//443 294//304
+f 294//304 432//443 287//297
 s 4
-f 132//132 250//258 157//157 
-f 157//157 156//156 433//444 
-f 157//157 433//444 130//130 
-f 157//157 130//130 132//132 
-f 280//290 263//273 387//397 
-f 279//289 278//288 388//398 
-f 279//289 380//390 275//285 
-f 275//285 367//377 276//286 
-f 276//286 367//377 368//378 
-f 277//287 370//380 269//279 
-f 138//138 390//400 139//139 
-f 258//266 250//258 132//132 
-f 284//294 245//253 285//295 
-f 134//134 133//133 242//250 
-f 390//400 138//138 136//136 
-f 142//142 389//399 144//144 
-f 144//144 389//399 395//405 
-f 265//275 258//266 264//274 
-f 264//274 258//266 137//137 
-f 263//273 141//141 383//393 
-f 383//393 141//141 140//140 
-f 263//273 143//143 141//141 
-f 263//273 137//137 143//143 
-f 258//266 132//132 135//135 
-f 136//136 134//134 242//250 
-f 136//136 242//250 284//294 
-f 284//294 242//250 245//253 
-f 267//277 136//136 284//294 
-f 136//136 267//277 390//400 
-f 260//270 254//262 265//275 
-f 265//275 254//262 258//266 
-f 137//137 258//266 135//135 
-f 390//400 389//399 142//142 
-f 390//400 142//142 139//139 
-f 245//253 257//265 285//295 
-f 285//295 257//265 286//296 
-f 286//296 257//265 253//261 
-f 286//296 253//261 262//272 
-f 262//272 253//261 256//264 
-f 262//272 256//264 260//270 
-f 260//270 256//264 254//262 
-f 270//280 390//400 267//277 
-f 242//250 133//133 131//131 
-f 242//250 131//131 154//154 
-f 154//154 131//131 434//445 
-f 154//154 434//445 155//155 
-f 241//248 239//245 435//446 
-f 435//446 239//245 229//235 
-f 229//235 399//409 346//356 
-f 435//446 229//235 321//331 
-f 321//331 229//235 346//356 
-f 322//332 241//248 435//446 
-f 322//332 435//446 323//333 
-f 323//333 435//446 321//331 
-f 321//331 346//356 320//330 
-f 232//238 404//414 238//244 
-f 283//293 282//292 412//422 
-f 238//244 404//414 282//292 
-f 412//422 282//292 404//414 
+f 132//132 250//258 157//157
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+f 280//290 263//273 387//397
+f 279//289 278//288 388//398
+f 279//289 380//390 275//285
+f 275//285 367//377 276//286
+f 276//286 367//377 368//378
+f 277//287 370//380 269//279
+f 138//138 390//400 139//139
+f 258//266 250//258 132//132
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+f 134//134 133//133 242//250
+f 390//400 138//138 136//136
+f 142//142 389//399 144//144
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+f 265//275 258//266 264//274
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+f 263//273 141//141 383//393
+f 383//393 141//141 140//140
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+f 263//273 137//137 143//143
+f 258//266 132//132 135//135
+f 136//136 134//134 242//250
+f 136//136 242//250 284//294
+f 284//294 242//250 245//253
+f 267//277 136//136 284//294
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+f 260//270 254//262 265//275
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+f 137//137 258//266 135//135
+f 390//400 389//399 142//142
+f 390//400 142//142 139//139
+f 245//253 257//265 285//295
+f 285//295 257//265 286//296
+f 286//296 257//265 253//261
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+f 262//272 253//261 256//264
+f 262//272 256//264 260//270
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+f 270//280 390//400 267//277
+f 242//250 133//133 131//131
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+f 241//248 239//245 435//446
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+f 322//332 241//248 435//446
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+f 232//238 404//414 238//244
+f 283//293 282//292 412//422
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 s 1
-f 303//313 299//309 436//447 
-f 301//311 436//447 299//309 
-f 436//447 301//311 297//307 
-f 436//447 297//307 431//442 
-f 436//447 426//436 303//313 
-f 185//187 169//170 426//436 
-f 432//443 177//179 176//178 
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-f 430//441 173//175 177//179 
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-f 174//176 429//440 179//448 
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-f 180//182 429//440 428//438 
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-f 191//195 428//438 187//191 
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-f 416//426 196//201 197//202 
-f 167//450 166//166 420//430 
-f 420//430 166//166 196//201 
-f 420//430 196//201 416//426 
-f 167//450 420//430 168//168 
-f 168//168 420//430 159//159 
-f 420//430 421//431 159//159 
-f 159//159 421//431 422//432 
-f 159//159 422//432 160//160 
-f 160//160 422//432 163//163 
-f 163//163 422//432 169//170 
-f 427//437 169//170 422//432 
-f 426//436 169//170 427//437 
-f 187//191 419//429 188//192 
-f 188//192 419//429 418//428 
-f 188//192 418//428 198//203 
-f 185//187 426//436 431//442 
-f 432//443 185//187 431//442 
-f 436//447 431//442 426//436 
-f 223//229 225//231 224//230 
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 s 16
-f 214//220 194//199 210//216 
-f 190//194 211//217 218//224 
+f 214//220 194//199 210//216
+f 190//194 211//217 218//224
 s 1
-f 131//131 130//130 433//451 
-f 156//156 155//155 433//451 
-f 433//451 155//155 434//452 
-f 433//451 434//452 131//131 
+f 131//131 130//130 433//451
+f 156//156 155//155 433//451
+f 433//451 155//155 434//452
+f 433//451 434//452 131//131
 # 0 polygons - 884 triangles
-
diff --git a/robots/alex_description/meshes/idx-f2.obj b/robots/alex_description/meshes/idx-f2.obj
index 5f7dfa1..c1986d6 100755
--- a/robots/alex_description/meshes/idx-f2.obj
+++ b/robots/alex_description/meshes/idx-f2.obj
@@ -505,497 +505,496 @@ o idx_F2
 g idx_F2
 usemtl wire_079079079
 s 1
-f 1//1 2//2 3//3 
-f 1//1 4//4 5//5 
-f 1//1 5//5 2//2 
-f 5//5 6//6 2//2 
-f 7//7 5//5 4//4 
-f 5//5 8//8 6//6 
-f 8//8 9//9 6//6 
-f 3//3 2//2 10//10 
-f 2//2 6//6 10//10 
-f 9//9 11//11 6//6 
-f 5//5 7//7 8//8 
-f 1//1 3//3 12//12 
-f 6//6 13//13 10//10 
-f 4//4 14//14 7//7 
-f 15//15 8//8 7//7 
-f 15//15 7//7 16//16 
-f 13//13 6//6 11//11 
-f 11//11 9//9 17//17 
-f 18//18 11//11 17//17 
-f 7//7 14//14 16//16 
-f 8//8 19//19 9//9 
-f 12//12 3//3 20//20 
-f 12//12 21//21 1//1 
-f 22//22 1//1 21//21 
-f 1//1 22//22 4//4 
-f 11//11 23//23 13//13 
-f 24//24 4//4 22//22 
-f 25//25 4//4 24//24 
-f 14//14 4//4 25//25 
-f 9//9 19//19 17//17 
-f 19//19 8//8 15//15 
-f 3//3 10//10 26//26 
-f 26//26 20//20 3//3 
-f 13//13 27//27 10//10 
-f 21//21 12//12 28//28 
-f 22//22 21//21 29//29 
-f 23//23 11//11 18//18 
-f 24//24 22//22 30//30 
-f 31//31 14//14 25//25 
-f 14//14 31//31 16//16 
-f 26//26 10//10 27//27 
-f 28//28 12//12 20//20 
-f 28//28 29//29 21//21 
-f 13//13 32//32 27//27 
-f 32//32 13//13 23//23 
-f 29//29 30//30 22//22 
-f 17//17 33//33 18//18 
-f 31//31 25//25 34//34 
-f 19//19 35//35 17//17 
-f 16//16 31//31 36//36 
-f 16//16 36//36 15//15 
-f 37//37 28//28 20//20 
-f 20//20 26//26 37//37 
-f 37//37 26//26 38//38 
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-f 29//29 28//28 39//39 
-f 25//25 24//24 40//40 
-f 34//34 25//25 40//40 
-f 19//19 15//15 35//35 
-f 41//41 38//38 27//27 
-f 23//23 42//42 32//32 
-f 33//33 43//43 18//18 
-f 40//40 24//24 30//30 
-f 44//44 31//31 34//34 
-f 45//45 35//35 15//15 
-f 15//15 36//36 45//45 
-f 46//46 28//28 37//37 
-f 27//27 32//32 41//41 
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-f 52//52 46//46 37//37 
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-f 42//42 54//54 41//41 
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-f 58//58 63//63 48//48 
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-f 48//48 64//64 56//56 
-f 51//51 65//65 50//50 
-f 45//45 66//66 35//35 
-f 67//67 36//36 60//60 
-f 36//36 67//67 45//45 
-f 68//68 58//58 47//47 
-f 49//49 56//56 69//69 
-f 44//44 34//34 49//49 
-f 35//35 66//66 51//51 
-f 52//52 53//53 70//70 
-f 53//53 41//41 71//71 
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-f 72//72 55//55 73//73 
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-f 56//56 64//64 69//69 
-f 57//57 74//74 59//59 
-f 50//50 75//75 57//57 
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-f 77//77 71//71 41//41 
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-f 41//41 54//54 77//77 
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-f 126//126 141//141 114//114 
-f 149//149 96//96 128//128 
-f 129//129 96//96 149//149 
-f 116//116 150//150 120//120 
-f 116//116 131//131 150//150 
-f 151//151 138//138 139//139 
-f 152//152 145//145 147//147 
-f 146//146 153//153 147//147 
-f 147//147 153//153 154//154 
-f 143//143 155//155 144//144 
-f 144//144 153//153 146//146 
-f 156//156 148//148 157//157 
-f 148//148 140//140 157//157 
-f 140//140 158//158 157//157 
+f 1//1 2//2 3//3
+f 1//1 4//4 5//5
+f 1//1 5//5 2//2
+f 5//5 6//6 2//2
+f 7//7 5//5 4//4
+f 5//5 8//8 6//6
+f 8//8 9//9 6//6
+f 3//3 2//2 10//10
+f 2//2 6//6 10//10
+f 9//9 11//11 6//6
+f 5//5 7//7 8//8
+f 1//1 3//3 12//12
+f 6//6 13//13 10//10
+f 4//4 14//14 7//7
+f 15//15 8//8 7//7
+f 15//15 7//7 16//16
+f 13//13 6//6 11//11
+f 11//11 9//9 17//17
+f 18//18 11//11 17//17
+f 7//7 14//14 16//16
+f 8//8 19//19 9//9
+f 12//12 3//3 20//20
+f 12//12 21//21 1//1
+f 22//22 1//1 21//21
+f 1//1 22//22 4//4
+f 11//11 23//23 13//13
+f 24//24 4//4 22//22
+f 25//25 4//4 24//24
+f 14//14 4//4 25//25
+f 9//9 19//19 17//17
+f 19//19 8//8 15//15
+f 3//3 10//10 26//26
+f 26//26 20//20 3//3
+f 13//13 27//27 10//10
+f 21//21 12//12 28//28
+f 22//22 21//21 29//29
+f 23//23 11//11 18//18
+f 24//24 22//22 30//30
+f 31//31 14//14 25//25
+f 14//14 31//31 16//16
+f 26//26 10//10 27//27
+f 28//28 12//12 20//20
+f 28//28 29//29 21//21
+f 13//13 32//32 27//27
+f 32//32 13//13 23//23
+f 29//29 30//30 22//22
+f 17//17 33//33 18//18
+f 31//31 25//25 34//34
+f 19//19 35//35 17//17
+f 16//16 31//31 36//36
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+f 37//37 28//28 20//20
+f 20//20 26//26 37//37
+f 37//37 26//26 38//38
+f 26//26 27//27 38//38
+f 29//29 28//28 39//39
+f 25//25 24//24 40//40
+f 34//34 25//25 40//40
+f 19//19 15//15 35//35
+f 41//41 38//38 27//27
+f 23//23 42//42 32//32
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+f 40//40 24//24 30//30
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+f 45//45 35//35 15//15
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+f 43//43 42//42 23//23
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+f 18//18 43//43 23//23
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+f 38//38 41//41 53//53
+f 46//46 47//47 28//28
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+f 47//47 48//48 39//39
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+f 30//30 48//48 56//56
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+f 49//49 40//40 56//56
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+f 47//47 58//58 48//48
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+f 57//57 59//59 43//43
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+f 54//54 42//42 62//62
+f 58//58 63//63 48//48
+f 63//63 64//64 48//48
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+f 51//51 65//65 50//50
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+f 35//35 66//66 51//51
+f 52//52 53//53 70//70
+f 53//53 41//41 71//71
+f 72//72 62//62 42//42
+f 42//42 55//55 72//72
+f 72//72 55//55 73//73
+f 59//59 73//73 55//55
+f 56//56 64//64 69//69
+f 57//57 74//74 59//59
+f 50//50 75//75 57//57
+f 51//51 66//66 65//65
+f 45//45 67//67 76//76
+f 76//76 66//66 45//45
+f 70//70 61//61 52//52
+f 77//77 71//71 41//41
+f 68//68 47//47 46//46
+f 41//41 54//54 77//77
+f 75//75 74//74 57//57
+f 50//50 65//65 75//75
+f 49//49 78//78 44//44
+f 61//61 79//79 46//46
+f 74//74 73//73 59//59
+f 49//49 69//69 78//78
+f 65//65 66//66 80//80
+f 60//60 81//81 67//67
+f 53//53 71//71 70//70
+f 68//68 79//79 82//82
+f 68//68 46//46 79//79
+f 69//69 64//64 83//83
+f 75//75 84//84 74//74
+f 84//84 75//75 65//65
+f 78//78 85//85 86//86
+f 44//44 78//78 86//86
+f 86//86 87//87 44//44
+f 60//60 44//44 87//87
+f 76//76 67//67 81//81
+f 54//54 88//88 77//77
+f 62//62 88//88 54//54
+f 68//68 82//82 89//89
+f 58//58 68//68 89//89
+f 58//58 89//89 63//63
+f 64//64 63//63 90//90
+f 64//64 90//90 83//83
+f 80//80 66//66 91//91
+f 76//76 91//91 66//66
+f 92//92 71//71 77//77
+f 74//74 93//93 73//73
+f 85//85 78//78 69//69
+f 81//81 60//60 87//87
+f 71//71 92//92 70//70
+f 62//62 94//94 88//88
+f 94//94 62//62 72//72
+f 73//73 95//95 72//72
+f 96//96 90//90 97//97
+f 83//83 90//90 96//96
+f 85//85 69//69 83//83
+f 98//98 99//99 80//80
+f 80//80 99//99 65//65
+f 86//86 100//100 87//87
+f 98//98 91//91 101//101
+f 80//80 91//91 98//98
+f 102//102 81//81 87//87
+f 103//103 91//91 76//76
+f 76//76 81//81 103//103
+f 79//79 61//61 104//104
+f 63//63 89//89 105//105
+f 95//95 73//73 106//106
+f 93//93 106//106 73//73
+f 107//107 93//93 74//74
+f 84//84 107//107 74//74
+f 65//65 99//99 84//84
+f 86//86 85//85 108//108
+f 102//102 103//103 81//81
+f 103//103 101//101 91//91
+f 70//70 104//104 61//61
+f 104//104 109//109 79//79
+f 110//110 92//92 77//77
+f 88//88 110//110 77//77
+f 63//63 105//105 111//111
+f 90//90 63//63 111//111
+f 112//112 85//85 83//83
+f 100//100 86//86 108//108
+f 102//102 87//87 100//100
+f 104//104 70//70 113//113
+f 92//92 113//113 70//70
+f 79//79 109//109 82//82
+f 114//114 88//88 94//94
+f 72//72 95//95 94//94
+f 90//90 111//111 97//97
+f 107//107 115//115 93//93
+f 96//96 112//112 83//83
+f 107//107 84//84 116//116
+f 99//99 116//116 84//84
+f 112//112 108//108 85//85
+f 117//117 99//99 98//98
+f 102//102 118//118 103//103
+f 118//118 101//101 103//103
+f 82//82 119//119 89//89
+f 114//114 110//110 88//88
+f 93//93 115//115 106//106
+f 107//107 120//120 115//115
+f 116//116 120//120 107//107
+f 116//116 99//99 117//117
+f 100//100 108//108 121//121
+f 117//117 98//98 122//122
+f 118//118 100//100 121//121
+f 122//122 98//98 123//123
+f 102//102 100//100 118//118
+f 98//98 101//101 123//123
+f 113//113 92//92 124//124
+f 92//92 110//110 124//124
+f 82//82 109//109 119//119
+f 89//89 119//119 125//125
+f 105//105 89//89 125//125
+f 95//95 126//126 94//94
+f 97//97 111//111 127//127
+f 96//96 97//97 128//128
+f 112//112 96//96 129//129
+f 112//112 130//130 108//108
+f 130//130 121//121 108//108
+f 117//117 131//131 116//116
+f 123//123 101//101 118//118
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+f 129//129 130//130 112//112
+f 121//121 130//130 132//132
+f 122//122 131//131 117//117
+f 133//133 118//118 121//121
+f 123//123 118//118 133//133
+f 104//104 134//134 109//109
+f 104//104 113//113 134//134
+f 113//113 124//124 134//134
+f 119//119 109//109 125//125
+f 105//105 125//125 135//135
+f 111//111 105//105 135//135
+f 95//95 136//136 126//126
+f 97//97 127//127 128//128
+f 106//106 136//136 95//95
+f 122//122 137//137 131//131
+f 137//137 122//122 138//138
+f 123//123 138//138 122//122
+f 132//132 139//139 133//133
+f 121//121 132//132 133//133
+f 139//139 138//138 133//133
+f 133//133 138//138 123//123
+f 110//110 140//140 124//124
+f 110//110 141//141 140//140
+f 141//141 110//110 114//114
+f 111//111 135//135 127//127
+f 120//120 142//142 115//115
+f 143//143 144//144 145//145
+f 144//144 146//146 145//145
+f 145//145 146//146 147//147
+f 148//148 124//124 140//140
+f 125//125 109//109 148//148
+f 148//148 109//109 134//134
+f 124//124 148//148 134//134
+f 126//126 141//141 114//114
+f 149//149 96//96 128//128
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+f 116//116 150//150 120//120
+f 116//116 131//131 150//150
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+f 146//146 153//153 147//147
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+f 144//144 153//153 146//146
+f 156//156 148//148 157//157
+f 148//148 140//140 157//157
+f 140//140 158//158 157//157
 s 2
-f 140//140 141//141 158//158 
+f 140//140 141//141 158//158
 s 1
-f 125//125 148//148 156//156 
-f 159//159 137//137 151//151 
-f 137//137 138//138 151//151 
-f 143//143 145//145 160//160 
-f 145//145 152//152 160//160 
-f 152//152 147//147 161//161 
-f 154//154 161//161 147//147 
-f 162//162 163//163 155//155 
-f 143//143 162//162 155//155 
-f 144//144 155//155 153//153 
-f 155//155 164//164 153//153 
-f 155//155 163//163 164//164 
-f 153//153 164//164 154//154 
-f 163//163 158//158 164//164 
+f 125//125 148//148 156//156
+f 159//159 137//137 151//151
+f 137//137 138//138 151//151
+f 143//143 145//145 160//160
+f 145//145 152//152 160//160
+f 152//152 147//147 161//161
+f 154//154 161//161 147//147
+f 162//162 163//163 155//155
+f 143//143 162//162 155//155
+f 144//144 155//155 153//153
+f 155//155 164//164 153//153
+f 155//155 163//163 164//164
+f 153//153 164//164 154//154
+f 163//163 158//158 164//164
 s 2
-f 141//141 164//164 158//158 
+f 141//141 164//164 158//158
 s 1
-f 156//156 157//157 163//163 
-f 163//163 157//157 158//158 
-f 125//125 156//156 165//165 
-f 166//166 141//141 126//126 
-f 135//135 125//125 165//165 
-f 128//128 127//127 167//167 
-f 106//106 168//168 136//136 
-f 115//115 168//168 106//106 
-f 169//169 170//170 129//129 
-f 170//170 130//130 129//129 
-f 130//130 171//171 132//132 
-f 150//150 131//131 137//137 
-f 162//162 143//143 172//172 
-f 161//161 154//154 173//173 
-f 162//162 156//156 163//163 
-f 164//164 141//141 154//154 
-f 136//136 174//174 126//126 
-f 167//167 127//127 135//135 
-f 149//149 169//169 129//129 
-f 120//120 175//175 142//142 
-f 150//150 175//175 120//120 
-f 130//130 170//170 171//171 
-f 132//132 171//171 139//139 
-f 137//137 159//159 150//150 
-f 139//139 176//176 151//151 
-f 160//160 152//152 177//177 
-f 143//143 160//160 172//172 
-f 156//156 162//162 178//178 
-f 173//173 154//154 141//141 
-f 178//178 165//165 156//156 
-f 166//166 173//173 141//141 
-f 179//179 149//149 128//128 
-f 159//159 180//180 150//150 
-f 159//159 151//151 176//176 
-f 152//152 161//161 177//177 
-f 162//162 172//172 178//178 
-f 126//126 174//174 166//166 
-f 136//136 181//181 174//174 
-f 182//182 183//183 168//168 
-f 128//128 167//167 179//179 
-f 115//115 182//182 168//168 
-f 149//149 179//179 169//169 
-f 150//150 180//180 175//175 
-f 172//172 160//160 184//184 
-f 161//161 185//185 177//177 
-f 172//172 184//184 178//178 
-f 185//185 161//161 173//173 
-f 168//168 181//181 136//136 
-f 179//179 167//167 186//186 
-f 115//115 142//142 182//182 
-f 176//176 139//139 171//171 
-f 177//177 184//184 160//160 
-f 185//185 184//184 177//177 
-f 167//167 135//135 187//187 
-f 171//171 170//170 188//188 
-f 176//176 171//171 188//188 
-f 166//166 189//189 173//173 
-f 165//165 178//178 190//190 
-f 174//174 189//189 166//166 
-f 135//135 165//165 187//187 
-f 168//168 191//191 181//181 
-f 183//183 191//191 168//168 
-f 187//187 165//165 190//190 
-f 192//192 176//176 188//188 
-f 159//159 176//176 192//192 
-f 185//185 193//193 184//184 
-f 184//184 194//194 178//178 
-f 189//189 185//185 173//173 
-f 193//193 185//185 189//189 
-f 167//167 187//187 195//195 
-f 195//195 186//186 167//167 
-f 192//192 180//180 159//159 
-f 184//184 193//193 194//194 
-f 190//190 178//178 194//194 
-f 196//196 179//179 186//186 
-f 142//142 197//197 182//182 
-f 169//169 179//179 198//198 
-f 198//198 179//179 196//196 
-f 175//175 199//199 142//142 
-f 199//199 175//175 180//180 
-f 192//192 200//200 180//180 
-f 197//197 183//183 182//182 
-f 170//170 169//169 198//198 
-f 199//199 180//180 200//200 
-f 201//201 188//188 170//170 
-f 188//188 202//202 192//192 
-f 192//192 202//202 200//200 
-f 194//194 193//193 203//203 
-f 193//193 189//189 203//203 
-f 189//189 204//204 203//203 
-f 190//190 194//194 205//205 
-f 206//206 195//195 207//207 
-f 186//186 195//195 206//206 
-f 183//183 208//208 191//191 
-f 199//199 197//197 142//142 
-f 188//188 201//201 202//202 
-f 194//194 203//203 205//205 
-f 205//205 209//209 190//190 
-f 187//187 190//190 209//209 
-f 174//174 210//210 189//189 
-f 211//211 195//195 187//187 
-f 211//211 207//207 195//195 
-f 208//208 212//212 191//191 
-f 196//196 186//186 206//206 
-f 204//204 189//189 210//210 
-f 191//191 212//212 181//181 
-f 208//208 213//213 214//214 
-f 207//207 215//215 206//206 
-f 216//216 213//213 208//208 
-f 216//216 208//208 183//183 
-f 170//170 198//198 201//201 
-f 202//202 201//201 217//217 
-f 181//181 210//210 174//174 
-f 218//218 210//210 181//181 
-f 208//208 214//214 212//212 
-f 215//215 207//207 219//219 
-f 220//220 216//216 183//183 
-f 221//221 183//183 197//197 
-f 199//199 221//221 197//197 
-f 198//198 222//222 201//201 
-f 223//223 199//199 200//200 
-f 223//223 200//200 202//202 
-f 205//205 203//203 224//224 
-f 203//203 204//204 224//224 
-f 205//205 224//224 209//209 
-f 211//211 187//187 209//209 
-f 212//212 218//218 181//181 
-f 225//225 215//215 219//219 
+f 156//156 157//157 163//163
+f 163//163 157//157 158//158
+f 125//125 156//156 165//165
+f 166//166 141//141 126//126
+f 135//135 125//125 165//165
+f 128//128 127//127 167//167
+f 106//106 168//168 136//136
+f 115//115 168//168 106//106
+f 169//169 170//170 129//129
+f 170//170 130//130 129//129
+f 130//130 171//171 132//132
+f 150//150 131//131 137//137
+f 162//162 143//143 172//172
+f 161//161 154//154 173//173
+f 162//162 156//156 163//163
+f 164//164 141//141 154//154
+f 136//136 174//174 126//126
+f 167//167 127//127 135//135
+f 149//149 169//169 129//129
+f 120//120 175//175 142//142
+f 150//150 175//175 120//120
+f 130//130 170//170 171//171
+f 132//132 171//171 139//139
+f 137//137 159//159 150//150
+f 139//139 176//176 151//151
+f 160//160 152//152 177//177
+f 143//143 160//160 172//172
+f 156//156 162//162 178//178
+f 173//173 154//154 141//141
+f 178//178 165//165 156//156
+f 166//166 173//173 141//141
+f 179//179 149//149 128//128
+f 159//159 180//180 150//150
+f 159//159 151//151 176//176
+f 152//152 161//161 177//177
+f 162//162 172//172 178//178
+f 126//126 174//174 166//166
+f 136//136 181//181 174//174
+f 182//182 183//183 168//168
+f 128//128 167//167 179//179
+f 115//115 182//182 168//168
+f 149//149 179//179 169//169
+f 150//150 180//180 175//175
+f 172//172 160//160 184//184
+f 161//161 185//185 177//177
+f 172//172 184//184 178//178
+f 185//185 161//161 173//173
+f 168//168 181//181 136//136
+f 179//179 167//167 186//186
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+f 176//176 139//139 171//171
+f 177//177 184//184 160//160
+f 185//185 184//184 177//177
+f 167//167 135//135 187//187
+f 171//171 170//170 188//188
+f 176//176 171//171 188//188
+f 166//166 189//189 173//173
+f 165//165 178//178 190//190
+f 174//174 189//189 166//166
+f 135//135 165//165 187//187
+f 168//168 191//191 181//181
+f 183//183 191//191 168//168
+f 187//187 165//165 190//190
+f 192//192 176//176 188//188
+f 159//159 176//176 192//192
+f 185//185 193//193 184//184
+f 184//184 194//194 178//178
+f 189//189 185//185 173//173
+f 193//193 185//185 189//189
+f 167//167 187//187 195//195
+f 195//195 186//186 167//167
+f 192//192 180//180 159//159
+f 184//184 193//193 194//194
+f 190//190 178//178 194//194
+f 196//196 179//179 186//186
+f 142//142 197//197 182//182
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+f 198//198 179//179 196//196
+f 175//175 199//199 142//142
+f 199//199 175//175 180//180
+f 192//192 200//200 180//180
+f 197//197 183//183 182//182
+f 170//170 169//169 198//198
+f 199//199 180//180 200//200
+f 201//201 188//188 170//170
+f 188//188 202//202 192//192
+f 192//192 202//202 200//200
+f 194//194 193//193 203//203
+f 193//193 189//189 203//203
+f 189//189 204//204 203//203
+f 190//190 194//194 205//205
+f 206//206 195//195 207//207
+f 186//186 195//195 206//206
+f 183//183 208//208 191//191
+f 199//199 197//197 142//142
+f 188//188 201//201 202//202
+f 194//194 203//203 205//205
+f 205//205 209//209 190//190
+f 187//187 190//190 209//209
+f 174//174 210//210 189//189
+f 211//211 195//195 187//187
+f 211//211 207//207 195//195
+f 208//208 212//212 191//191
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+f 204//204 189//189 210//210
+f 191//191 212//212 181//181
+f 208//208 213//213 214//214
+f 207//207 215//215 206//206
+f 216//216 213//213 208//208
+f 216//216 208//208 183//183
+f 170//170 198//198 201//201
+f 202//202 201//201 217//217
+f 181//181 210//210 174//174
+f 218//218 210//210 181//181
+f 208//208 214//214 212//212
+f 215//215 207//207 219//219
+f 220//220 216//216 183//183
+f 221//221 183//183 197//197
+f 199//199 221//221 197//197
+f 198//198 222//222 201//201
+f 223//223 199//199 200//200
+f 223//223 200//200 202//202
+f 205//205 203//203 224//224
+f 203//203 204//204 224//224
+f 205//205 224//224 209//209
+f 211//211 187//187 209//209
+f 212//212 218//218 181//181
+f 225//225 215//215 219//219
 s 2
-f 215//215 225//225 226//226 
-f 225//225 213//213 226//226 
-f 213//213 216//216 226//226 
+f 215//215 225//225 226//226
+f 225//225 213//213 226//226
+f 213//213 216//216 226//226
 s 1
-f 215//215 227//227 206//206 
-f 196//196 206//206 227//227 
-f 220//220 183//183 221//221 
-f 227//227 222//222 196//196 
-f 222//222 198//198 196//196 
-f 223//223 221//221 199//199 
-f 201//201 222//222 217//217 
-f 217//217 223//223 202//202 
-f 228//228 219//219 207//207 
-f 215//215 226//226 229//229 
-f 229//229 226//226 230//230 
-f 226//226 216//216 230//230 
-f 230//230 216//216 220//220 
-f 227//227 215//215 229//229 
-f 221//221 223//223 231//231 
-f 217//217 231//231 223//223 
-f 224//224 232//232 233//233 
-f 224//224 204//204 232//232 
-f 204//204 210//210 232//232 
-f 212//212 234//234 218//218 
-f 235//235 207//207 211//211 
-f 207//207 235//235 228//228 
-f 212//212 214//214 234//234 
-f 219//219 236//236 225//225 
-f 236//236 237//237 225//225 
-f 237//237 234//234 213//213 
-f 214//214 213//213 234//234 
-f 237//237 213//213 225//225 
-f 227//227 229//229 238//238 
-f 239//239 220//220 221//221 
-f 222//222 227//227 238//238 
-f 231//231 239//239 221//221 
-f 238//238 217//217 222//222 
-f 231//231 217//217 238//238 
-f 209//209 224//224 240//240 
-f 240//240 224//224 233//233 
-f 211//211 209//209 235//235 
-f 236//236 219//219 228//228 
-f 230//230 220//220 239//239 
-f 238//238 229//229 239//239 
-f 229//229 230//230 239//239 
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-f 245//245 241//241 218//218 
-f 244//244 245//245 218//218 
-f 242//242 245//245 244//244 
-f 244//244 218//218 234//234 
-f 243//243 242//242 244//244 
+f 215//215 227//227 206//206
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+f 220//220 183//183 221//221
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+f 223//223 221//221 199//199
+f 201//201 222//222 217//217
+f 217//217 223//223 202//202
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+f 226//226 216//216 230//230
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+f 221//221 223//223 231//231
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+f 209//209 224//224 240//240
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 # 0 polygons - 486 triangles
-
diff --git a/robots/alex_description/meshes/thumb-f1-mir.obj b/robots/alex_description/meshes/thumb-f1-mir.obj
index 1477ed6..e3ae779 100755
--- a/robots/alex_description/meshes/thumb-f1-mir.obj
+++ b/robots/alex_description/meshes/thumb-f1-mir.obj
@@ -187,4 +187,3 @@ f 53 21 4
 f 24 21 43
 f 43 21 53
 # Vertices: 62, normals: 0, texture coordinates: 0, faces: 120
-
diff --git a/robots/alex_description/meshes/thumb-f1.obj b/robots/alex_description/meshes/thumb-f1.obj
index 66bed02..198c1eb 100755
--- a/robots/alex_description/meshes/thumb-f1.obj
+++ b/robots/alex_description/meshes/thumb-f1.obj
@@ -139,140 +139,139 @@ o thumb_F1
 g thumb_F1
 usemtl wire_119119119
 s 1
-f 1//1 2//2 3//3 
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-f 40//40 18//18 1//1 
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-f 22//22 23//23 20//20 
-f 49//49 24//24 23//23 
-f 34//34 28//28 2//2 
-f 31//31 30//30 3//3 
-f 43//43 32//32 3//3 
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 s 2
-f 38//38 34//34 33//33 
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-f 51//51 10//10 13//13 
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 s 2
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-f 58//58 60//60 30//30 
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-f 38//38 33//33 42//42 
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 s 1
-f 61//61 38//38 45//45 
-f 42//42 33//33 41//41 
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-f 42//42 16//16 17//17 
-f 23//23 46//46 54//54 
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+f 61//61 38//38 45//45
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 s 2
-f 56//56 22//22 21//21 
-f 56//56 38//38 61//61 
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 s 1
-f 23//23 22//22 56//56 
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 s 2
-f 62//62 48//48 55//55 
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-f 28//28 50//50 26//26 
-f 28//28 34//34 50//50 
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 s 2
-f 21//21 38//38 56//56 
-f 38//38 60//60 57//57 
-f 38//38 57//57 50//50 
-f 40//40 38//38 42//42 
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 s 1
-f 23//23 54//54 52//52 
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-f 62//62 47//47 48//48 
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 s 2
-f 55//55 56//56 61//61 
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-f 21//21 60//60 38//38 
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 s 4
-f 38//38 40//40 8//8 
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 s 1
-f 20//20 53//53 4//4 
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-f 20//20 43//43 53//53 
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 # 0 polygons - 120 triangles
-
diff --git a/robots/alex_description/meshes/thumb-f2-left.obj b/robots/alex_description/meshes/thumb-f2-left.obj
index bfc4c62..8d604c2 100755
--- a/robots/alex_description/meshes/thumb-f2-left.obj
+++ b/robots/alex_description/meshes/thumb-f2-left.obj
@@ -287,275 +287,274 @@ o thumb_F2_left
 g thumb_F2_left
 usemtl wire_119119119
 s 1
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-f 17//17 18//18 19//19 
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-f 135//135 93//93 134//134 
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-f 136//136 127//127 119//119 
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-f 106//106 25//25 78//78 
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-f 123//123 99//99 133//133 
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-f 120//120 125//125 98//98 
-f 48//48 26//26 8//8 
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 # 0 polygons - 268 triangles
-
diff --git a/robots/alex_description/meshes/thumb-f2-right.obj b/robots/alex_description/meshes/thumb-f2-right.obj
index 769d87d..af9385f 100755
--- a/robots/alex_description/meshes/thumb-f2-right.obj
+++ b/robots/alex_description/meshes/thumb-f2-right.obj
@@ -409,4 +409,3 @@ f 121 106 105
 f 120 125 98
 f 48 26 8
 # Vertices: 136, normals: 0, texture coordinates: 0, faces: 268
-
diff --git a/robots/alex_description/meshes/wristadapter.obj b/robots/alex_description/meshes/wristadapter.obj
index e086475..0a96e8b 100755
--- a/robots/alex_description/meshes/wristadapter.obj
+++ b/robots/alex_description/meshes/wristadapter.obj
@@ -20679,4 +20679,3 @@ f 6764 6765 5693
 f 3 6764 5713
 f 2 6764 3
 # Vertices: 6887, normals: 0, texture coordinates: 0, faces: 13790
-
diff --git a/robots/alex_description/meshes/wristadapter_mir.obj b/robots/alex_description/meshes/wristadapter_mir.obj
index 0e995bb..3aac6fc 100755
--- a/robots/alex_description/meshes/wristadapter_mir.obj
+++ b/robots/alex_description/meshes/wristadapter_mir.obj
@@ -53757,4 +53757,3 @@ f 15201 17845 15213
 f 15213 17845 17846
 f 15213 17846 17847
 # Vertices: 17912, normals: 0, texture coordinates: 0, faces: 35840
-
diff --git a/robots/alex_description/meshes/wristmesh.obj b/robots/alex_description/meshes/wristmesh.obj
index e76f1f5..22fc097 100755
--- a/robots/alex_description/meshes/wristmesh.obj
+++ b/robots/alex_description/meshes/wristmesh.obj
@@ -64298,4 +64298,3 @@ f 21404 19531 21403
 f 21403 19531 19534
 f 21403 19534 19736
 # Vertices: 21431, normals: 0, texture coordinates: 0, faces: 42862
-
diff --git a/robots/alex_description/meshes/wristmesh.updated.obj b/robots/alex_description/meshes/wristmesh.updated.obj
index fb081ca..bf3f0dd 100755
--- a/robots/alex_description/meshes/wristmesh.updated.obj
+++ b/robots/alex_description/meshes/wristmesh.updated.obj
@@ -3211,3886 +3211,3885 @@ o wristmesh
 g wristmesh
 usemtl mat1
 s 1
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+f 1672//1472 1589//1389 1673//1473
+f 1673//1473 1589//1389 1590//1390
+f 1673//1473 1590//1390 1674//1474
+f 1674//1474 1590//1390 1591//1391
+f 1674//1474 1591//1391 1675//1475
+f 1675//1475 1591//1391 1592//1392
+f 1675//1475 1592//1392 1676//1476
+f 1676//1476 1592//1392 1593//1393
+f 1676//1476 1593//1393 1677//1477
+f 1677//1477 1593//1393 1594//1394
+f 1677//1477 1594//1394 1678//1478
+f 1678//1478 1594//1394 1595//1395
+f 1678//1478 1595//1395 1679//1479
+f 1679//1479 1595//1395 1596//1396
+f 1679//1479 1596//1396 1680//1480
+f 1680//1480 1596//1396 1597//1397
+f 1680//1480 1597//1397 1681//1481
+f 1681//1481 1597//1397 1598//1398
+f 1681//1481 1598//1398 1682//1482
+f 1682//1482 1598//1398 1599//1399
+f 1682//1482 1599//1399 1683//1483
+f 1683//1483 1599//1399 1600//1400
+f 1683//1483 1600//1400 1684//1484
+f 1684//1484 1600//1400 1601//1401
+f 1684//1484 1601//1401 1685//1485
+f 1685//1485 1601//1401 1602//1402
+f 1685//1485 1602//1402 1686//1486
+f 1686//1486 1602//1402 1603//1403
+f 1686//1486 1603//1403 1687//1487
+f 1687//1487 1603//1403 1604//1404
+f 1687//1487 1604//1404 1688//1488
+f 1688//1488 1604//1404 1605//1405
+f 1688//1488 1605//1405 1689//1489
+f 1689//1489 1605//1405 1606//1406
+f 1689//1489 1606//1406 1690//1490
+f 1690//1490 1606//1406 1607//1407
+f 1690//1490 1607//1407 1691//1491
+f 1691//1491 1607//1407 1608//1408
+f 1691//1491 1608//1408 1692//1492
+f 1692//1492 1608//1408 1609//1409
+f 1692//1492 1609//1409 1693//1493
+f 1693//1493 1609//1409 1610//1410
+f 1693//1493 1610//1410 1694//1494
+f 1694//1494 1610//1410 1611//1411
+f 1694//1494 1611//1411 1695//1495
+f 1695//1495 1611//1411 1612//1412
+f 1695//1495 1612//1412 1696//1496
+f 1696//1496 1612//1412 1613//1413
+f 1696//1496 1613//1413 1697//1497
+f 1697//1497 1613//1413 1614//1414
+f 1697//1497 1614//1414 1698//1498
+f 1698//1498 1614//1414 1615//1415
+f 1698//1498 1615//1415 1643//1443
+f 1643//1443 1615//1415 1616//1416
+f 1549//1349 433//440 1547//1347
+f 1547//1347 433//440 432//439
+f 1547//1347 432//439 1545//1345
+f 1545//1345 432//439 431//438
+f 1545//1345 431//438 1543//1343
+f 1543//1343 431//438 440//446
+f 1543//1343 440//446 1541//1341
+f 1541//1341 440//446 439//445
+f 1541//1341 439//445 1539//1339
+f 1539//1339 439//445 438//444
+f 1539//1339 438//444 1537//1337
+f 1537//1337 438//444 437//443
+f 1537//1337 437//443 1535//1335
+f 1535//1335 437//443 435//442
+f 1535//1335 435//442 1533//1333
+f 1533//1333 435//442 434//441
+f 1533//1333 434//441 1531//1331
+f 1531//1331 434//441 501//464
+f 1531//1331 501//464 1529//1329
+f 1529//1329 501//464 441//447
+f 1529//1329 441//447 1527//1327
+f 1527//1327 441//447 443//448
+f 1527//1327 443//448 1525//1325
+f 1525//1325 443//448 444//449
+f 1525//1325 444//449 1523//1323
+f 1523//1323 444//449 445//450
+f 1523//1323 445//450 1521//1321
+f 1521//1321 445//450 447//451
+f 1521//1321 447//451 1519//1319
+f 1519//1319 447//451 608//495
+f 1519//1319 608//495 1517//1317
+f 1517//1317 608//495 607//494
+f 1517//1317 607//494 1515//1315
+f 1515//1315 607//494 418//430
+f 1515//1315 418//430 1585//1385
+f 1585//1385 418//430 417//429
+f 1585//1385 417//429 1583//1383
+f 1583//1383 417//429 416//428
+f 1583//1383 416//428 1581//1381
+f 1581//1381 416//428 409//422
+f 1581//1381 409//422 1579//1379
+f 1579//1379 409//422 408//421
+f 1579//1379 408//421 1577//1377
+f 1577//1377 408//421 412//424
+f 1577//1377 412//424 1575//1375
+f 1575//1375 412//424 411//423
+f 1575//1375 411//423 1573//1373
+f 1573//1373 411//423 415//427
+f 1573//1373 415//427 1571//1371
+f 1571//1371 415//427 414//426
+f 1571//1371 414//426 1569//1369
+f 1569//1369 414//426 413//425
+f 1569//1369 413//425 1567//1367
+f 1567//1367 413//425 421//431
+f 1567//1367 421//431 1565//1365
+f 1565//1365 421//431 44//15
+f 1565//1365 44//15 1563//1363
+f 1563//1363 44//15 43//14
+f 1563//1363 43//14 1561//1361
+f 1561//1361 43//14 425//435
+f 1561//1361 425//435 1559//1359
+f 1559//1359 425//435 424//434
+f 1559//1359 424//434 1557//1357
+f 1557//1357 424//434 423//433
+f 1557//1357 423//433 1555//1355
+f 1555//1355 423//433 422//432
+f 1555//1355 422//432 1553//1353
+f 1553//1353 422//432 427//437
+f 1553//1353 427//437 1551//1351
+f 1551//1351 427//437 426//436
+f 1551//1351 426//436 1549//1349
+f 1549//1349 426//436 433//440
+f 1518//1318 814//685 1520//1320
+f 1520//1320 814//685 815//686
+f 1520//1320 815//686 1522//1322
+f 1522//1322 815//686 828//698
+f 1522//1322 828//698 1524//1324
+f 1524//1324 828//698 827//697
+f 1524//1324 827//697 1526//1326
+f 1526//1326 827//697 826//696
+f 1526//1326 826//696 1528//1328
+f 1528//1328 826//696 744//618
+f 1528//1328 744//618 1530//1330
+f 1530//1330 744//618 743//617
+f 1530//1330 743//617 1532//1332
+f 1532//1332 743//617 781//652
+f 1532//1332 781//652 1534//1334
+f 1534//1334 781//652 810//681
+f 1534//1334 810//681 1536//1336
+f 1536//1336 810//681 809//680
+f 1536//1336 809//680 1538//1338
+f 1538//1338 809//680 808//679
+f 1538//1338 808//679 1540//1340
+f 1540//1340 808//679 791//662
+f 1540//1340 791//662 1542//1342
+f 1542//1342 791//662 790//661
+f 1542//1342 790//661 1544//1344
+f 1544//1344 790//661 789//660
+f 1544//1344 789//660 1546//1346
+f 1546//1346 789//660 788//659
+f 1546//1346 788//659 1548//1348
+f 1548//1348 788//659 787//658
+f 1548//1348 787//658 1550//1350
+f 1550//1350 787//658 786//657
+f 1550//1350 786//657 1552//1352
+f 1552//1352 786//657 785//656
+f 1552//1352 785//656 1554//1354
+f 1554//1354 785//656 765//637
+f 1554//1354 765//637 1556//1356
+f 1556//1356 765//637 764//636
+f 1556//1356 764//636 1558//1358
+f 1558//1358 764//636 831//701
+f 1558//1358 831//701 1560//1360
+f 1560//1360 831//701 836//706
+f 1560//1360 836//706 1562//1362
+f 1562//1362 836//706 835//705
+f 1562//1362 835//705 1564//1364
+f 1564//1364 835//705 834//704
+f 1564//1364 834//704 1566//1366
+f 1566//1366 834//704 833//703
+f 1566//1366 833//703 1568//1368
+f 1568//1368 833//703 832//702
+f 1568//1368 832//702 1570//1370
+f 1570//1370 832//702 820//691
+f 1570//1370 820//691 1572//1372
+f 1572//1372 820//691 819//690
+f 1572//1372 819//690 1574//1374
+f 1574//1374 819//690 797//668
+f 1574//1374 797//668 1576//1376
+f 1576//1376 797//668 796//667
+f 1576//1376 796//667 1578//1378
+f 1578//1378 796//667 795//666
+f 1578//1378 795//666 1580//1380
+f 1580//1380 795//666 794//665
+f 1580//1380 794//665 1582//1382
+f 1582//1382 794//665 793//664
+f 1582//1382 793//664 1584//1384
+f 1584//1384 793//664 792//663
+f 1584//1384 792//663 1586//1386
+f 1586//1386 792//663 756//630
+f 1586//1386 756//630 1516//1316
+f 1516//1316 756//630 813//684
+f 1516//1316 813//684 1518//1318
+f 1518//1318 813//684 814//685
+f 260//217 258//214 1672//1472
+f 1672//1472 258//214 263//222
+f 1672//1472 263//222 1671//1471
+f 260//217 1672//1472 275//253
+f 275//253 1672//1472 1673//1473
+f 275//253 1673//1473 595//493
+f 595//493 1673//1473 594//492
+f 594//492 1673//1473 1674//1474
+f 594//492 1674//1474 593//491
+f 593//491 1674//1474 1675//1475
+f 593//491 1675//1475 79//26
+f 79//26 1675//1475 1676//1476
+f 79//26 1676//1476 74//24
+f 74//24 1676//1476 1677//1477
+f 74//24 1677//1477 82//27
+f 82//27 1677//1477 1678//1478
+f 82//27 1678//1478 76//25
+f 76//25 1678//1478 1679//1479
+f 76//25 1679//1479 71//23
+f 71//23 1679//1479 1680//1480
+f 71//23 1680//1480 69//22
+f 69//22 1680//1480 1681//1481
+f 69//22 1681//1481 592//490
+f 592//490 1681//1481 1682//1482
+f 592//490 1682//1482 591//489
+f 591//489 1682//1482 1683//1483
+f 591//489 1683//1483 590//488
+f 590//488 1683//1483 587//487
+f 587//487 1683//1483 1684//1484
+f 587//487 1684//1484 586//486
+f 586//486 1684//1484 1685//1485
+f 586//486 1685//1485 585//485
+f 585//485 1685//1485 583//484
+f 583//484 1685//1485 1686//1486
+f 583//484 1686//1486 578//481
+f 578//481 1686//1486 1687//1487
+f 578//481 1687//1487 579//482
+f 579//482 1687//1487 1688//1488
+f 579//482 1688//1488 581//483
+f 581//483 1688//1488 1689//1489
+f 581//483 1689//1489 36//9
+f 36//9 1689//1489 1690//1490
+f 36//9 1690//1490 34//8
+f 34//8 1690//1490 1691//1491
+f 34//8 1691//1491 574//477
+f 574//477 1691//1491 1692//1492
+f 574//477 1692//1492 575//478
+f 575//478 1692//1492 1693//1493
+f 575//478 1693//1493 576//479
+f 576//479 1693//1493 1694//1494
+f 576//479 1694//1494 577//480
+f 577//480 1694//1494 1695//1495
+f 577//480 1695//1495 37//10
+f 37//10 1695//1495 1696//1496
+f 37//10 1696//1496 38//11
+f 38//11 1696//1496 1697//1497
+f 38//11 1697//1497 570//476
+f 570//476 1697//1497 1698//1498
+f 570//476 1698//1498 568//475
+f 568//475 1698//1498 1643//1443
+f 568//475 1643//1443 563//474
+f 563//474 1643//1443 1644//1444
+f 563//474 1644//1444 555//472
+f 555//472 1644//1444 1645//1445
+f 555//472 1645//1445 556//473
+f 556//473 1645//1445 1646//1446
+f 556//473 1646//1446 550//471
+f 550//471 1646//1446 1647//1447
+f 550//471 1647//1447 514//468
+f 514//468 1647//1447 1648//1448
+f 514//468 1648//1448 512//467
+f 512//467 1648//1448 1649//1449
+f 512//467 1649//1449 511//466
+f 511//466 1649//1449 1650//1450
+f 511//466 1650//1450 504//465
+f 504//465 1650//1450 1651//1451
+f 504//465 1651//1451 517//469
+f 517//469 1651//1451 1652//1452
+f 517//469 1652//1452 518//470
+f 518//470 1652//1452 1653//1453
+f 518//470 1653//1453 500//463
+f 500//463 1653//1453 1654//1454
+f 500//463 1654//1454 40//12
+f 40//12 1654//1454 1655//1455
+f 40//12 1655//1455 41//13
+f 41//13 1655//1455 1656//1456
+f 41//13 1656//1456 499//462
+f 499//462 1656//1456 1657//1457
+f 499//462 1657//1457 495//459
+f 495//459 1657//1457 1658//1458
+f 495//459 1658//1458 496//460
+f 496//460 1658//1458 1659//1459
+f 496//460 1659//1459 497//461
+f 497//461 1659//1459 1660//1460
+f 497//461 1660//1460 493//458
+f 493//458 1660//1460 1661//1461
+f 493//458 1661//1461 460//455
+f 460//455 1661//1461 1662//1462
+f 460//455 1662//1462 461//456
+f 461//456 1662//1462 1663//1463
+f 461//456 1663//1463 459//454
+f 459//454 1663//1463 1664//1464
+f 459//454 1664//1464 453//453
+f 453//453 1664//1464 1665//1465
+f 453//453 1665//1465 475//457
+f 475//457 1665//1465 1666//1466
+f 475//457 1666//1466 450//452
+f 450//452 1666//1466 1667//1467
+f 450//452 1667//1467 377//399
+f 377//399 1667//1467 1668//1468
+f 377//399 1668//1468 385//406
+f 385//406 1668//1468 1669//1469
+f 385//406 1669//1469 386//407
+f 1670//1470 397//417 395//415
+f 1670//1470 395//415 1669//1469
+f 1669//1469 395//415 388//409
+f 1669//1469 388//409 386//407
+f 1671//1471 263//222 1670//1470
+f 1670//1470 263//222 265//225
+f 1670//1470 265//225 397//417
 s 2
-f 28//7 600//7 599//7 603//7 602//7 601//7 596//7 39//7 573//7 572//7 571//7 569//7 567//7 566//7 565//7 564//7 562//7 561//7 557//7 560//7 559//7 558//7 549//7 548//7 554//7 553//7 552//7 551//7 547//7 546//7 545//7 429//7 428//7 32//7 31//7 598//7 597//7 29//7 
-f 58//7 120//7 124//7 122//7 133//7 132//7 131//7 130//7 129//7 128//7 126//7 125//7 147//7 146//7 145//7 139//7 138//7 144//7 143//7 142//7 141//7 140//7 135//7 134//7 150//7 149//7 148//7 111//7 109//7 108//7 119//7 118//7 117//7 116//7 115//7 113//7 59//7 
-f 61//7 92//7 91//7 90//7 89//7 87//7 102//7 101//7 99//7 98//7 97//7 96//7 95//7 94//7 93//7 363//7 104//7 103//7 107//7 106//7 105//7 65//7 64//7 73//7 72//7 85//7 84//7 83//7 81//7 80//7 75//7 77//7 78//7 70//7 68//7 67//7 62//7 
-f 451//7 477//7 476//7 483//7 482//7 481//7 472//7 473//7 474//7 492//7 491//7 490//7 489//7 488//7 487//7 471//7 470//7 486//7 485//7 484//7 458//7 457//7 455//7 454//7 469//7 468//7 467//7 466//7 465//7 464//7 463//7 462//7 480//7 479//7 478//7 452//7 
-f 502//7 533//7 532//7 531//7 519//7 544//7 543//7 542//7 530//7 529//7 528//7 527//7 526//7 541//7 540//7 525//7 524//7 523//7 508//7 509//7 510//7 507//7 506//7 505//7 539//7 538//7 537//7 536//7 535//7 534//7 516//7 515//7 513//7 522//7 521//7 520//7 503//7 
+f 28//7 600//7 599//7 603//7 602//7 601//7 596//7 39//7 573//7 572//7 571//7 569//7 567//7 566//7 565//7 564//7 562//7 561//7 557//7 560//7 559//7 558//7 549//7 548//7 554//7 553//7 552//7 551//7 547//7 546//7 545//7 429//7 428//7 32//7 31//7 598//7 597//7 29//7
+f 58//7 120//7 124//7 122//7 133//7 132//7 131//7 130//7 129//7 128//7 126//7 125//7 147//7 146//7 145//7 139//7 138//7 144//7 143//7 142//7 141//7 140//7 135//7 134//7 150//7 149//7 148//7 111//7 109//7 108//7 119//7 118//7 117//7 116//7 115//7 113//7 59//7
+f 61//7 92//7 91//7 90//7 89//7 87//7 102//7 101//7 99//7 98//7 97//7 96//7 95//7 94//7 93//7 363//7 104//7 103//7 107//7 106//7 105//7 65//7 64//7 73//7 72//7 85//7 84//7 83//7 81//7 80//7 75//7 77//7 78//7 70//7 68//7 67//7 62//7
+f 451//7 477//7 476//7 483//7 482//7 481//7 472//7 473//7 474//7 492//7 491//7 490//7 489//7 488//7 487//7 471//7 470//7 486//7 485//7 484//7 458//7 457//7 455//7 454//7 469//7 468//7 467//7 466//7 465//7 464//7 463//7 462//7 480//7 479//7 478//7 452//7
+f 502//7 533//7 532//7 531//7 519//7 544//7 543//7 542//7 530//7 529//7 528//7 527//7 526//7 541//7 540//7 525//7 524//7 523//7 508//7 509//7 510//7 507//7 506//7 505//7 539//7 538//7 537//7 536//7 535//7 534//7 516//7 515//7 513//7 522//7 521//7 520//7 503//7
 # 5 polygons - 3875 triangles
-
diff --git a/robots/alex_description/srdf/alex_sake_hands.srdf b/robots/alex_description/srdf/alex_sake_hands.srdf
index 8ac9d6c..aeee09c 100644
--- a/robots/alex_description/srdf/alex_sake_hands.srdf
+++ b/robots/alex_description/srdf/alex_sake_hands.srdf
@@ -86,4 +86,4 @@
     <end_effector name="left_arm_end_effector" parent_link="LeftGripperYaw" group="left_arm"/>
     <end_effector name="right_arm_end_effector" parent_link="RightGripperYaw" group="right_arm"/>
 
-</robot>
\ No newline at end of file
+</robot>
diff --git a/robots/alex_description/urdf/alex_nub_hands.urdf b/robots/alex_description/urdf/alex_nub_hands.urdf
index 58799bb..72fb023 100755
--- a/robots/alex_description/urdf/alex_nub_hands.urdf
+++ b/robots/alex_description/urdf/alex_nub_hands.urdf
@@ -983,5 +983,5 @@
       </geometry>
     </collision>
 	</link>
-	
+
 </robot>
diff --git a/robots/alex_description/urdf/alex_psyonic_hands.urdf b/robots/alex_description/urdf/alex_psyonic_hands.urdf
index d7b0b88..e076e92 100755
--- a/robots/alex_description/urdf/alex_psyonic_hands.urdf
+++ b/robots/alex_description/urdf/alex_psyonic_hands.urdf
@@ -918,20 +918,20 @@
 			<imu> <!-- placeholder tag for IMU --> </imu>
 		</sensor>
 	</gazebo>
-	
+
 <!-- Gripper Fixed Joints -->
 	<joint name="rightGrippertAttachmentFixedJoint" type="fixed">
 		<origin rpy="-3.141592 0 3.141592" xyz="0 0 -0.02560000"/>
 		<parent link="RightGripperYawLink"/>
 		<child link="RightPsyonicAbilityBaseLink"/>
     </joint>
-	
+
 	<joint name="leftGrippertAttachmentFixedJoint" type="fixed">
 		<origin rpy="3.141592 0 0" xyz="0 0 -0.02560000"/>
 		<parent link="LeftGripperYawLink"/>
 		<child link="LeftPsyonicAbilityBaseLink"/>
     </joint>
-	
+
 	<!-- Left Psyonic Ability Hand -->
 	<link name="LeftPsyonicAbilityBaseLink">
 		<visual name="wrist_mesh">
@@ -939,7 +939,7 @@
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/wristmesh.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<inertial>	<!-- the mass and inertia here are NOT correct -->
 			<mass value = "0.200"/>
 			<inertia ixx="978.26e-6" ixy = "87.34e-6" ixz = "322.99e-6" iyy = "1244.78e-6" iyz = "244.74e-6" izz = "456.22e-6" />
@@ -964,13 +964,13 @@
 			<inertia ixx="978.26e-6" ixy = "87.34e-6" ixz = "322.99e-6" iyy = "1244.78e-6" iyz = "244.74e-6" izz = "456.22e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-						
+
 		<visual name="palm_mesh">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/fb_palm_ref.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
@@ -978,9 +978,9 @@
       </geometry>
     </collision>
 	</link>
-	
-	
-	
+
+
+
 	<link name="Left_index_L1" >
 		<inertial>
 			<mass value = "0.00635888"/>
@@ -1005,7 +1005,7 @@
 			<mass value = "0.00645"/>
 			<inertia ixx="0.82671e-6" ixy = "-1.08876e-6" ixz = "-0.00037e-6" iyy = "1.98028e-6" iyz = "0.00081e-6" izz = "2.64638e-6" />
 			<origin rpy = "0 0 0" xyz = "13.36818e-3 -8.75392e-3 -0.02886e-3"/>
-		</inertial>		
+		</inertial>
 		<visual name="index_mesh_2">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1018,7 +1018,7 @@
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
     </collision>
-	</link>	
+	</link>
 	<joint name="Left_index_q1" type="revolute">
 		<parent link="Left_thumb_base"/>
 		<child link="Left_index_L1"/>
@@ -1043,7 +1043,7 @@
 		<origin rpy = "0 0 0" xyz = "31.5541e-3  -10.44e-3 0.14e-3"/>
 	</joint>
 
-	
+
 
 	<link name="Left_middle_L1" >
 		<inertial>
@@ -1051,7 +1051,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="middle_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1064,7 +1064,7 @@
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
     </collision>
-		
+
 	</link>
 	<link name="Left_middle_L2" >
 		<inertial>
@@ -1119,7 +1119,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="ring_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1144,13 +1144,13 @@
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj"/>
 			</geometry>
-		</visual>	
+		</visual>
 		<collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Left_ring_q1" type="revolute">
 		<parent link="Left_thumb_base"/>
@@ -1184,7 +1184,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="pinky_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1196,7 +1196,7 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<link name="Left_pinky_L2" >
 		<inertial>
@@ -1209,13 +1209,13 @@
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Left_pinky_q1" type="revolute">
 		<parent link="Left_thumb_base"/>
@@ -1249,7 +1249,7 @@
 			<inertia ixx="0.16931e-6" ixy = "-0.076214e-6" ixz = "-0.16959148e-6" iyy = "0.77769934e-6" iyz = "0.0156622e-6" izz = "0.7249122e-6" />
 			<origin rpy = "0 0 0" xyz = "14.606e-3 -1.890854e-3 -3.1155356e-3"/>
 		</inertial>
-		
+
 		<visual name="thumb_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1261,8 +1261,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/thumb-f1.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<link name="Left_thumb_L2" >
 		<inertial>
@@ -1270,7 +1270,7 @@
 			<inertia ixx="4.4789082e-6" ixy = "4.4789082e-6" ixz = "-0.62144934e-6" iyy = "15.600996e-6" iyz = "-0.07466143e-6" izz = "17.908554e-6" />
 			<origin rpy = "0 0 0" xyz = "30.020522e-3 5.59476e-3 -4.1504356e-3"/>
 		</inertial>
-		
+
 		<visual name="thumb_mesh_2">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1282,8 +1282,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/thumb-f2-left.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<joint name="Left_thumb_q1" type="revolute">
 		<parent link="Left_thumb_base"/>
@@ -1299,7 +1299,7 @@
 		<origin xyz = "27.8283501e-3 0 -14.7507000e-3" rpy = "4.450589592585541 0 0" />
 		<axis xyz="0 0 1"/>
 		<limit lower = "0" upper = "2.0943951" effort = "6.0" velocity = "8.0677777442"/>		<!-- angles in rad, efforts in N-m, velocity in rad/s -->
-		<dynamics damping = "0.001" friction = "0.001" />	<!-- Friction coefficient is not from quantitative measurement -->		
+		<dynamics damping = "0.001" friction = "0.001" />	<!-- Friction coefficient is not from quantitative measurement -->
 	</joint>
 	<link name="Left_thumb_anchor"/>
 	<joint name="Left_thmb_anchor" type="fixed">
@@ -1309,7 +1309,7 @@
 	</joint>
 	<!-- End of Left Psyonic Ability Hand -->
 
-	
+
 	<!-- Right Psyonic Ability Hand -->
 	<link name="RightPsyonicAbilityBaseLink">
 		<visual name="wrist_mesh">
@@ -1317,7 +1317,7 @@
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/wristmesh.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<inertial>	<!-- the mass and inertia here are NOT correct -->
 			<mass value = "0.200"/>
 			<inertia ixx="978.26e-6" ixy = "87.34e-6" ixz = "322.99e-6" iyy = "1244.78e-6" iyz = "244.74e-6" izz = "456.22e-6" />
@@ -1328,35 +1328,35 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/wristmesh.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Right_wrist2thumb" type="fixed">
 		<parent link="RightPsyonicAbilityBaseLink"/>
 		<child link="Right_thumb_base"/>
 		<origin xyz = "-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy = "3.14148426 -0.08848813 -3.14036612"/>
 	</joint>
-  
+
 	<link name="Right_thumb_base" >
 		<inertial>
 			<mass value = "0.200"/>
 			<inertia ixx="978.26e-6" ixy = "87.34e-6" ixz = "322.99e-6" iyy = "1244.78e-6" iyz = "244.74e-6" izz = "456.22e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-						
+
 		<visual name="palm_mesh">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/fb_palm_ref_mir.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/fb_palm_ref_mir.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
-	
+
 	<link name="Right_index_L1" >
 		<inertial>
 			<mass value = "0.00635888"/>
@@ -1374,14 +1374,14 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<link name="Right_index_L2" >
 		<inertial>
 			<mass value = "0.00645"/>
 			<inertia ixx="0.82671e-6" ixy = "-1.08876e-6" ixz = "-0.00037e-6" iyy = "1.98028e-6" iyz = "0.00081e-6" izz = "2.64638e-6" />
 			<origin rpy = "0 0 0" xyz = "13.36818e-3 -8.75392e-3 -0.02886e-3"/>
-		</inertial>		
+		</inertial>
 		<visual name="index_mesh_2">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1393,7 +1393,7 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Right_index_q1" type="revolute">
 		<parent link="Right_thumb_base"/>
@@ -1418,7 +1418,7 @@
 		<child link="Right_index_anchor"/>
 		<origin rpy = "0 0 0" xyz = "31.5541e-3  -10.44e-3 0.14e-3"/>
 	</joint>
-	
+
 
 	<link name="Right_middle_L1" >
 		<inertial>
@@ -1426,7 +1426,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="middle_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1438,8 +1438,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<link name="Right_middle_L2" >
 		<inertial>
@@ -1458,7 +1458,7 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Right_middle_q1" type="revolute">
 		<parent link="Right_thumb_base"/>
@@ -1490,7 +1490,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="ring_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1502,7 +1502,7 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<link name="Right_ring_L2" >
 		<inertial>
@@ -1515,13 +1515,13 @@
 			<geometry>
 				<mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj"/>
 			</geometry>
-		</visual>		
+		</visual>
 		<collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
+    </collision>
 	</link>
 	<joint name="Right_ring_q1" type="revolute">
 		<parent link="Right_thumb_base"/>
@@ -1553,7 +1553,7 @@
 			<inertia ixx="0.29766e-6" ixy = "-0.06447133e-6" ixz = "-0.00423315e-6" iyy = "3.6947967e-6" iyz = "0.00083028e-6" izz = "3.8176336e-6" />
 			<origin xyz = "22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy = "0 0 0"/>
 		</inertial>
-		
+
 		<visual name="pinky_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1565,8 +1565,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f1.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<link name="Right_pinky_L2" >
 		<inertial>
@@ -1585,8 +1585,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/idx-f2.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<joint name="Right_pinky_q1" type="revolute">
 		<parent link="Right_thumb_base"/>
@@ -1618,7 +1618,7 @@
 			<inertia ixx="0.16931e-6" ixy = "-0.076214e-6" ixz = "-0.16959148e-6" iyy = "0.77769934e-6" iyz = "0.0156622e-6" izz = "0.7249122e-6" />
 			<origin rpy = "0 0 0" xyz = "14.606e-3 -1.890854e-3 -3.1155356e-3"/>
 		</inertial>
-		
+
 		<visual name="thumb_mesh_1">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1630,8 +1630,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/thumb-f1-mir.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<link name="Right_thumb_L2" >
 		<inertial>
@@ -1639,7 +1639,7 @@
 			<inertia ixx="4.4789082e-6" ixy = "4.4789082e-6" ixz = "-0.62144934e-6" iyy = "15.600996e-6" iyz = "-0.07466143e-6" izz = "17.908554e-6" />
 			<origin rpy = "0 0 0" xyz = "30.020522e-3 5.59476e-3 -4.1504356e-3"/>
 		</inertial>
-		
+
 		<visual name="thumb_mesh_2">
 			<origin rpy = "0 0 0" xyz = "0 0 0"/>
 			<geometry>
@@ -1651,8 +1651,8 @@
       <geometry>
         <mesh filename="package://example-robot-data/robots/alex_description/meshes/thumb-f2-right.obj" />
       </geometry>
-    </collision>	
-		
+    </collision>
+
 	</link>
 	<joint name="Right_thumb_q1" type="revolute">
 		<parent link="Right_thumb_base"/>
@@ -1668,7 +1668,7 @@
 		<origin xyz = " 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy = " 1.832595714594045 -0.0 5.366520605522463e-18 " />
 		<axis xyz="0 0 1"/>
 		<limit lower = "0" upper = "2.0943951" effort = "6.0" velocity = "8.0677777442"/>		<!-- angles in rad, efforts in N-m, velocity in rad/s -->
-		<dynamics damping = "0.001" friction = "0.001" />	<!-- Friction coefficient is not from quantitative measurement -->		
+		<dynamics damping = "0.001" friction = "0.001" />	<!-- Friction coefficient is not from quantitative measurement -->
 	</joint>
 	<link name="Right_thumb_anchor"/>
 	<joint name="Right_thmb_anchor" type="fixed">
@@ -1676,5 +1676,5 @@
 		<child link="Right_thumb_anchor"/>
 		<origin rpy = "0 0 0" xyz = "52.00122724e-3 28.00869333e-3 6.98483578e-3"/>
 	</joint>
-	<!-- End of Right Psyonic Ability Hand -->	
+	<!-- End of Right Psyonic Ability Hand -->
 </robot>
diff --git a/robots/alex_description/urdf/alex_sake_hands.urdf b/robots/alex_description/urdf/alex_sake_hands.urdf
index 32538da..356f2c2 100755
--- a/robots/alex_description/urdf/alex_sake_hands.urdf
+++ b/robots/alex_description/urdf/alex_sake_hands.urdf
@@ -953,7 +953,7 @@
       </geometry>
     </collision>
     </link>
-	
+
 	<joint name="Right_GRIPPER_X1" type="revolute">
         <origin xyz="0.0 0.0299 -0.0754" rpy="-0.25 0.0 0.0"/>
         <axis xyz="1.0 0.0 0.0"/>
@@ -986,7 +986,7 @@
         <dynamics damping="0.05" friction="0.0"/>
         <limit effort="1.0" lower="-1.0" upper="0.0" velocity="3.67"/>
 	</joint>
-		
+
 	<link name="RightSakeBaseFingerLink1">
         <inertial>
             <mass value="0.05"/>
@@ -1084,7 +1084,7 @@
       </geometry>
     </collision>
     </link>
-	
+
 	<joint name="Left_GRIPPER_X1" type="revolute">
         <origin xyz="0.0 0.0299 -0.0754" rpy="-0.25 0.0 0.0"/>
         <axis xyz="1.0 0.0 0.0"/>
@@ -1117,7 +1117,7 @@
         <dynamics damping="0.05" friction="0.0"/>
         <limit effort="1.0" lower="-1.0" upper="0.0" velocity="3.67"/>
     </joint>
-	
+
 	<link name="LeftSakeBaseFingerLink1">
         <inertial>
             <mass value="0.05"/>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 246eacd..8d7496d 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -104,10 +104,10 @@ def test_alex_nub_hands(self):
         self.check("alex_nub_hands", 19, 19)
 
     def test_alex_psyonic_hands(self):
-        self.check("alex_psyonic_hands", 39, 39)    
+        self.check("alex_psyonic_hands", 39, 39)
 
     def test_alex_sake_hands(self):
-        self.check("alex_sake_hands", 23, 23)    
+        self.check("alex_sake_hands", 23, 23)
 
     def test_allegro_right(self):
         self.check("allegro_right_hand", 16, 16)