diff --git "a/urdf/aloha_maniskill_sim/meshes/back_link7.dae" "b/urdf/aloha_maniskill_sim/meshes/back_link7.dae"
new file mode 100644--- /dev/null
+++ "b/urdf/aloha_maniskill_sim/meshes/back_link7.dae"
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T16:48:16</created>
+    <modified>2024-07-25T16:48:16</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="_0240624新车渲染专用___20240126115051_2-effect">
+      <profile_COMMON>
+        <newparam sid="Image_290-surface">
+          <surface type="2D">
+            <init_from>Image_290</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_290-sampler">
+          <sampler2D>
+            <source>Image_290-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_290-sampler"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.5</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Image_290" name="Image_290">
+      <init_from>Image_290.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="_0240624新车渲染专用___20240126115051_2-material" name="20240624新车渲染专用:__20240126115051:2">
+      <instance_effect url="#_0240624新车渲染专用___20240126115051_2-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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14288 14317 14287 14390 14360 14318 14288 14390 14360 14381 14351 14381 14351 14390 14360 14396 14366 14381 14351 14396 14366 14380 14350 14380 14350 14396 14366 14395 14365 14380 14350 14395 14365 14379 14349 14379 14349 14395 14365 14399 14369 14379 14349 14399 14369 14378 14348 14378 14348 14399 14369 14398 14368 14378 14348 14398 14368 14377 14347 14377 14347 14398 14368 14397 14367 14377 14347 14397 14367 14376 14346 14376 14346 14397 14367 14401 14371 14376 14346 14401 14371 14375 14345 14375 14345 14401 14371 14400 14370 14375 14345 14400 14370 14374 14344 14374 14344 14400 14370 14403 14373 14374 14344 14403 14373 14373 14343 14373 14343 14403 14373 14402 14372 14373 14343 14402 14372 14389 14359 14389 14359 14402 14372 14406 14376 14389 14359 14406 14376 14388 14358 14388 14358 14406 14376 14405 14375 14388 14358 14405 14375 14387 14357 14387 14357 14405 14375 14404 14374 14387 14357 14404 14374 14386 14356 14386 14356 14404 14374 14392 14362 14386 14356 14392 14362 14385 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="back_link7" name="back_link7" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#back_link7-mesh" name="back_link7">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="_0240624新车渲染专用___20240126115051_2-material" target="#_0240624新车渲染专用___20240126115051_2-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file