diff --git "a/urdf/aloha_maniskill_sim/meshes/base_arm.dae" "b/urdf/aloha_maniskill_sim/meshes/base_arm.dae"
new file mode 100644--- /dev/null
+++ "b/urdf/aloha_maniskill_sim/meshes/base_arm.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>2024-07-25T15:48:55</created>
+    <modified>2024-07-25T15:48:55</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="哑光漆_黑色__1-effect">
+      <profile_COMMON>
+        <newparam sid="Image_269-surface">
+          <surface type="2D">
+            <init_from>Image_269</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Image_269-sampler">
+          <sampler2D>
+            <source>Image_269-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Image_269-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_269" name="Image_269">
+      <init_from>Image_269.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="哑光漆_黑色__1-material" name="哑光漆 黑色 #1">
+      <instance_effect url="#哑光漆_黑色__1-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="base_arm-mesh" name="base_arm">
+      <mesh>
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
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+        </vertices>
+        <triangles material="哑光漆_黑色__1-material" count="1806">
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+          <input semantic="NORMAL" source="#base_arm-mesh-normals" offset="1"/>
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830 386 386 387 387 830 830 387 387 388 388 230 230 840 840 228 228 228 228 840 840 475 475 228 228 475 475 226 226 226 226 475 475 474 474 226 226 474 474 224 224 224 224 474 474 473 473 224 224 473 473 711 711 711 711 473 473 869 869 711 711 869 869 712 712 712 712 869 869 847 847 712 712 847 847 830 830 830 830 847 847 384 384 830 830 384 384 383 383 477 477 476 476 826 826 826 826 476 476 840 840 826 826 840 840 825 825 825 825 840 840 824 824 831 831 822 822 840 840 840 840 822 822 823 823 840 840 823 823 824 824 815 815 816 816 835 835 835 835 816 816 817 817 483 483 482 482 819 819 819 819 482 482 835 835 819 819 835 835 818 818 818 818 835 835 817 817 441 441 813 813 835 835 835 835 813 813 814 814 835 835 814 814 815 815 832 832 834 834 805 805 805 805 834 834 870 870 805 805 870 870 828 828 859 859 871 871 872 872 859 859 872 872 860 860 860 860 872 872 873 873 860 860 873 873 861 861 861 861 873 873 222 222 861 861 222 222 221 221 222 222 489 489 223 223 223 223 489 489 874 874 223 223 874 874 257 257 257 257 874 874 875 875 257 257 875 875 256 256 256 256 875 875 876 876 877 877 878 878 879 879 876 876 880 880 881 881 873 873 872 872 222 222 222 222 872 872 871 871 222 222 871 871 489 489 489 489 871 871 877 877 489 489 877 877 487 487 487 487 877 877 879 879 437 437 435 435 434 434 881 881 882 882 876 876 876 876 882 882 883 883 876 876 883 883 256 256 256 256 883 883 437 437 256 256 437 437 884 884 884 884 437 437 434 434 254 254 256 256 884 884 254 254 884 884 839 839 839 839 884 884 434 434 839 839 434 434 433 433 447 447 448 448 730 730 730 730 448 448 836 836 730 730 836 836 731 731 731 731 836 836 833 833 731 731 833 833 266 266 266 266 833 833 832 832 266 266 832 832 268 268 268 268 832 832 838 838 268 268 838 838 271 271 271 271 838 838 837 837 271 271 837 837 273 273 273 273 837 837 439 439 294 294 455 455 732 732 732 732 455 455 865 865 732 732 865 865 733 733 733 733 865 865 863 863 733 733 863 863 734 734 734 734 863 863 862 862 734 734 862 862 735 735 735 735 862 862 868 868 735 735 868 868 736 736 736 736 868 868 867 867 736 736 867 867 282 282 282 282 867 867 449 449 308 308 462 462 737 737 737 737 462 462 829 829 737 737 829 829 738 738 738 738 829 829 856 856 738 738 856 856 739 739 739 739 856 856 855 855 739 739 855 855 740 740 740 740 855 855 854 854 740 740 854 854 741 741 741 741 854 854 853 853 741 741 853 853 296 296 296 296 853 853 456 456 471 471 472 472 742 742 742 742 472 472 849 849 742 742 849 849 743 743 743 743 849 849 851 851 743 743 851 851 310 310 310 310 851 851 850 850 310 310 850 850 312 312 312 312 850 850 857 857 312 312 857 857 314 314 314 314 857 857 858 858 314 314 858 858 316 316 316 316 858 858 463 463 336 336 479 479 744 744 744 744 479 479 845 845 744 744 845 845 745 745 745 745 845 845 846 846 745 745 846 846 746 746 746 746 846 846 848 848 746 746 848 848 747 747 747 747 848 848 847 847 747 747 847 847 748 748 748 748 847 847 869 869 748 748 869 869 324 324 324 324 869 869 473 473 351 351 486 486 749 749 749 749 486 486 831 831 749 749 831 831 750 750 750 750 831 831 841 841 750 750 841 841 751 751 751 751 841 841 842 842 751 751 842 842 752 752 752 752 842 842 843 843 752 752 843 843 753 753 753 753 843 843 844 844 753 753 844 844 338 338 338 338 844 844 480 480 490 490 795 795 489 489 489 489 795 795 874 874 795 795 794 794 874 874 874 874 794 794 793 793 874 874 793 793 875 875 793 793 792 792 875 875 875 875 792 792 804 804 875 875 804 804 876 876 438 438 437 437 834 834 834 834 437 437 883 883 834 834 883 883 870 870 871 871 859 859 877 877 877 877 859 859 864 864 882 882 881 881 806 806 802 802 809 809 880 880 880 880 809 809 808 808 880 880 808 808 881 881 881 881 808 808 807 807 881 881 807 807 806 806 802 802 880 880 803 803 803 803 880 880 876 876 803 803 876 876 804 804 806 806 828 828 882 882 882 882 828 828 870 870 882 882 870 870 883 883 877 877 864 864 866 866 799 799 798 798 879 879 879 879 798 798 487 487 487 487 798 798 797 797 487 487 797 797 488 488 799 799 879 879 866 866 866 866 879 879 878 878 866 866 878 878 877 877</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="base_arm" name="base_arm" 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="#base_arm-mesh" name="base_arm">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-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