{
    "stacking": [
        "stacking/block.urdf",
        "stacking/stand.urdf"
    ],
    "corner": [
        "corner/corner-template.urdf"
    ],
    "ball": [
        "ball/ball-template.urdf",
        "ball/ball.urdf"
    ],
    "sphere": [
        "sphere/sphere.urdf",
        "sphere/sphere-template.urdf"
    ],
    "zone": [
        "zone/zone.urdf",
        "zone/zone.obj"
    ],
    "block": [
        "block/block.urdf",
        "block/block_for_anchors.urdf",
        "block/small.urdf"
    ],
    "pallet": [
        "pallet/pallet.urdf",
        "pallet/pallet.obj"
    ],
    "cylinder": [
        "cylinder/cylinder-template.urdf"
    ],
    "container": [
        "container/container-template.urdf"
    ],
    "bowl": [
        "bowl/bowl.urdf"
    ],
    "square": [
        "square/square-template.urdf"
    ],    
    "box": [
        "box/box-template.urdf"
    ],
    "line": [
        "line/line-template.urdf"
    ],    
    "insertion": [
        "insertion/ell.urdf",
        "insertion/fixture.urdf"
    ]
}