diff --git a/.gitignore b/.gitignore
index 77ba3ab..1d4fea6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,23 +11,10 @@ data/
MUJOCO_LOG.TXT
pcanview.log
-src/afp_mjc/env/AFPhead/meshes/
-src/afp_mjc/env/AFPhead/urdf/*.STL
-
-src/afp_mjc/env/flange_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/flange_model2/meshes/
-src/afp_mjc/env/flange_model2/urdf/*.STL
-
-src/afp_mjc/env/90degree_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/mujoco_ur5e/assets/
src/il_capture/data/
-
src/il_capture/calibrate/raw_data
-src/ur5e_control/src/ur5e_control/_pycache__
\ No newline at end of file
+__pycache__/
+*.pyc
\ No newline at end of file
diff --git a/src/AFP_controller/script/__pycache__/tension_control.cpython-38.pyc b/src/AFP_controller/script/__pycache__/tension_control.cpython-38.pyc
deleted file mode 100644
index 514badb..0000000
Binary files a/src/AFP_controller/script/__pycache__/tension_control.cpython-38.pyc and /dev/null differ
diff --git a/src/afp_mjc/env/120degree_model/CMakeLists.txt b/src/afp_mjc/env/120degree_model/CMakeLists.txt
new file mode 100644
index 0000000..719dfdf
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(120degree_model)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+ install(DIRECTORY ${dir}/
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/src/afp_mjc/env/120degree_model/config/joint_names_120degree_model.yaml b/src/afp_mjc/env/120degree_model/config/joint_names_120degree_model.yaml
new file mode 100644
index 0000000..74b5333
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/config/joint_names_120degree_model.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', ]
diff --git a/src/afp_mjc/env/120degree_model/export.log b/src/afp_mjc/env/120degree_model/export.log
new file mode 100644
index 0000000..6b87211
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/export.log
@@ -0,0 +1,95 @@
+2026-03-10 16:27:58,088 INFO Logger.cs: 70 -
+--------------------------------------------------------------------------------
+2026-03-10 16:27:58,149 INFO Logger.cs: 71 - Logging commencing for SW2URDF exporter
+2026-03-10 16:27:58,152 INFO Logger.cs: 73 - Commit version 1.6.0-4-g7f85cfe
+2026-03-10 16:27:58,153 INFO Logger.cs: 74 - Build version 1.6.7995.38578
+2026-03-10 16:27:58,156 INFO SwAddin.cs: 192 - Attempting to connect to SW
+2026-03-10 16:27:58,158 INFO SwAddin.cs: 197 - Setting up callbacks
+2026-03-10 16:27:58,159 INFO SwAddin.cs: 201 - Setting up command manager
+2026-03-10 16:27:58,160 INFO SwAddin.cs: 204 - Adding command manager
+2026-03-10 16:27:58,163 INFO SwAddin.cs: 263 - Adding Assembly export to file menu
+2026-03-10 16:27:58,164 INFO SwAddin.cs: 272 - Adding Part export to file menu
+2026-03-10 16:27:58,164 INFO SwAddin.cs: 210 - Adding event handlers
+2026-03-10 16:27:58,167 INFO SwAddin.cs: 217 - Connecting plugin to SolidWorks
+2026-03-10 16:33:04,495 INFO SwAddin.cs: 294 - Assembly export called for file 装配体2
+2026-03-10 16:33:04,497 INFO SwAddin.cs: 299 - Save is required
+2026-03-10 16:33:04,498 INFO SwAddin.cs: 313 - Saving assembly
+2026-03-10 16:33:04,499 INFO SwAddin.cs: 316 - Opening property manager
+2026-03-10 16:33:04,521 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 装配体2
+2026-03-10 16:33:04,527 INFO ExportHelperExtension.cs: 1136 - Found 18 in 装配体2
+2026-03-10 16:33:04,528 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [CoordSys] in 装配体2
+2026-03-10 16:33:04,529 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-10 16:33:04,530 INFO ExportHelperExtension.cs: 1160 - 1 components to check
+2026-03-10 16:33:04,531 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 120度铺放模具4urdf-1
+2026-03-10 16:33:04,532 INFO ExportHelperExtension.cs: 1136 - Found 36 in 120度铺放模具4urdf-1
+2026-03-10 16:33:04,533 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 120度铺放模具4urdf-1
+2026-03-10 16:33:04,533 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 装配体2
+2026-03-10 16:33:04,533 INFO ExportHelperExtension.cs: 1136 - Found 18 in 装配体2
+2026-03-10 16:33:04,534 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in 装配体2
+2026-03-10 16:33:04,534 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-10 16:33:04,534 INFO ExportHelperExtension.cs: 1160 - 1 components to check
+2026-03-10 16:33:04,534 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 120度铺放模具4urdf-1
+2026-03-10 16:33:04,535 INFO ExportHelperExtension.cs: 1136 - Found 36 in 120度铺放模具4urdf-1
+2026-03-10 16:33:04,535 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 120度铺放模具4urdf-1
+2026-03-10 16:33:04,769 INFO SwAddin.cs: 339 - Loading config tree
+2026-03-10 16:33:04,772 INFO ExportPropertyManagerExtension.cs: 520 - Starting new configuration
+2026-03-10 16:33:04,777 INFO SwAddin.cs: 344 - Showing property manager
+2026-03-10 16:33:11,890 INFO ExportPropertyManager.cs: 1018 - OnComboboxSelectionChanged called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-10 16:33:20,693 INFO ExportPropertyManager.cs: 422 - Configuration saved
+2026-03-10 16:33:21,145 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 装配体2
+2026-03-10 16:33:21,150 INFO ExportHelperExtension.cs: 1136 - Found 19 in 装配体2
+2026-03-10 16:33:21,150 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [CoordSys] in 装配体2
+2026-03-10 16:33:21,151 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-10 16:33:21,151 INFO ExportHelperExtension.cs: 1160 - 1 components to check
+2026-03-10 16:33:21,151 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [CoordSys] from 120度铺放模具4urdf-1
+2026-03-10 16:33:21,152 INFO ExportHelperExtension.cs: 1136 - Found 36 in 120度铺放模具4urdf-1
+2026-03-10 16:33:21,152 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [CoordSys] in 120度铺放模具4urdf-1
+2026-03-10 16:33:21,152 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 装配体2
+2026-03-10 16:33:21,153 INFO ExportHelperExtension.cs: 1136 - Found 19 in 装配体2
+2026-03-10 16:33:21,153 INFO ExportHelperExtension.cs: 1145 - Found 1 features of type [RefAxis] in 装配体2
+2026-03-10 16:33:21,153 INFO ExportHelperExtension.cs: 1148 - Proceeding through assembly components
+2026-03-10 16:33:21,153 INFO ExportHelperExtension.cs: 1160 - 1 components to check
+2026-03-10 16:33:21,154 INFO ExportHelperExtension.cs: 1125 - Retrieving features of type [RefAxis] from 120度铺放模具4urdf-1
+2026-03-10 16:33:21,154 INFO ExportHelperExtension.cs: 1136 - Found 36 in 120度铺放模具4urdf-1
+2026-03-10 16:33:21,154 INFO ExportHelperExtension.cs: 1145 - Found 0 features of type [RefAxis] in 120度铺放模具4urdf-1
+2026-03-10 16:33:21,247 INFO ExportPropertyManager.cs: 1142 - AfterClose called. This method no longer throws an Exception. It just silently does nothing. Ok, except for this logging message
+2026-03-10 16:33:29,121 INFO AssemblyExportForm.cs: 253 - Completing URDF export
+2026-03-10 16:33:29,124 INFO ConfigurationSerialization.cs: 276 - URDF Configuration found
+nametruebase_linkxyztrue000rpytrue000originfalsefalsevaluetrue0massfalseixxtrue0ixytrue0ixztrue0iyytrue0iyztrue0izztrue0inertiafalseinertialfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruenametruergbatrue1111colorfalsefilenametruetexturefalsematerialfalsevisualfalsexyztrue000rpytrue000originfalsefalsefilenametruemeshfalsegeometrytruecollisionfalsenametruetypetruexyztrue000rpytrue000originfalsefalselinktrueparenttruelinktruechildtruexyztrue000axisfalselowerfalseupperfalseefforttruevelocitytruelimitfalserisingfalsefallingfalsecalibrationfalsedampingfalsefrictionfalsedynamicsfalsesoft_upper_limitfalsesoft_lower_limitfalsek_positionfalsek_velocitytruesafety_controllerfalsejointtruemultiplierfalseoffsetfalsemimicfalsejointfalse?????????1linktruefalsefalsefalse
+2026-03-10 16:33:42,463 INFO AssemblyExportForm.cs: 309 - Saving URDF package to C:\实验室科研\实验场景\120degree_model
+2026-03-10 16:33:42,465 INFO ExportHelper.cs: 147 - Beginning the export process
+2026-03-10 16:33:42,471 INFO ExportHelper.cs: 153 - Creating package directories with name 120degree_model and save path C:\实验室科研\实验场景
+2026-03-10 16:33:43,499 INFO ExportHelper.cs: 162 - Creating CMakeLists.txt at C:\实验室科研\实验场景\120degree_model\CMakeLists.txt
+2026-03-10 16:33:43,502 INFO ExportHelper.cs: 166 - Creating joint names config at C:\实验室科研\实验场景\120degree_model\config\joint_names_120degree_model.yaml
+2026-03-10 16:33:43,504 INFO ExportHelper.cs: 170 - Creating package.xml at C:\实验室科研\实验场景\120degree_model\package.xml
+2026-03-10 16:33:43,505 INFO PackageXMLWriter.cs: 21 - Creating package.xml at C:\实验室科研\实验场景\120degree_model\package.xml
+2026-03-10 16:33:43,509 INFO ExportHelper.cs: 177 - Creating RVIZ launch file in C:\实验室科研\实验场景\120degree_model\launch\
+2026-03-10 16:33:43,513 INFO ExportHelper.cs: 182 - Creating Gazebo launch file in C:\实验室科研\实验场景\120degree_model\launch\
+2026-03-10 16:33:43,516 INFO ExportHelper.cs: 187 - Saving existing STL preferences
+2026-03-10 16:33:43,518 INFO ExportHelper.cs: 450 - Saving users preferences
+2026-03-10 16:33:43,520 INFO ExportHelper.cs: 190 - Modifying STL preferences
+2026-03-10 16:33:43,521 INFO ExportHelper.cs: 464 - Setting STL preferences
+2026-03-10 16:33:43,531 INFO ExportHelper.cs: 196 - Found 0 hidden components
+2026-03-10 16:33:43,531 INFO ExportHelper.cs: 197 - Hiding all components
+2026-03-10 16:33:43,617 INFO ExportHelper.cs: 204 - Beginning individual files export
+2026-03-10 16:33:43,624 INFO ExportHelper.cs: 270 - Exporting link: base_link
+2026-03-10 16:33:43,624 INFO ExportHelper.cs: 272 - Link base_link has 0 children
+2026-03-10 16:33:43,625 INFO ExportHelper.cs: 317 - base_link: Exporting STL with coordinate frame 坐标系1
+2026-03-10 16:33:43,626 INFO ExportHelper.cs: 322 - base_link: Reference geometry name
+2026-03-10 16:33:43,630 INFO ExportHelper.cs: 330 - Saving STL to C:\实验室科研\实验场景\120degree_model\meshes\base_link.STL
+2026-03-10 16:33:43,819 INFO ExportHelper.cs: 405 - Removing SW header in STL file
+2026-03-10 16:33:43,822 WARN ExportHelper.cs: 408 - Correcting the STL C:\实验室科研\实验场景\120degree_model\meshes\base_link.STL failed. This STL may not be readable by ROS or other CAD programs
+System.IO.IOException: 文件“C:\实验室科研\实验场景\120degree_model\meshes\base_link.STL”正由另一进程使用,因此该进程无法访问此文件。
+ 在 System.IO.__Error.WinIOError(Int32 errorCode, String maybeFullPath)
+ 在 System.IO.FileStream.Init(String path, FileMode mode, FileAccess access, Int32 rights, Boolean useRights, FileShare share, Int32 bufferSize, FileOptions options, SECURITY_ATTRIBUTES secAttrs, String msgPath, Boolean bFromProxy, Boolean useLongPath, Boolean checkHost)
+ 在 System.IO.FileStream..ctor(String path, FileMode mode, FileAccess access, FileShare share)
+ 在 SW2URDF.URDFExport.ExportHelper.CorrectSTLMesh(String filename) 位置 C:\Users\Stephen Brawner\workspace\solidworks_urdf_exporter\SW2URDF\URDFExport\ExportHelper.cs:行号 408
+2026-03-10 16:33:43,826 WARN ExportHelper.cs: 343 - There was an issue exporting the STL for base_link. It may not be readable by CAD programs that aren't SolidWorks
+2026-03-10 16:33:43,827 INFO ExportHelper.cs: 145 - Showing all components except previously hidden components
+2026-03-10 16:33:43,964 INFO ExportHelper.cs: 145 - Resetting STL preferences
+2026-03-10 16:33:43,965 INFO ExportHelper.cs: 478 - Returning STL preferences to user preferences
+2026-03-10 16:33:43,966 INFO ExportHelper.cs: 228 - Writing URDF file to C:\实验室科研\实验场景\120degree_model\urdf\120degree_model.urdf
+2026-03-10 16:33:44,073 INFO CSVImportExport.cs: 32 - Writing CSV file C:\实验室科研\实验场景\120degree_model\urdf\120degree_model.csv
+2026-03-10 16:33:44,095 ERROR CSVImportExport.cs: 130 - The following columns were not written to the CSV: Link.Joint.ChildLink.link,
+2026-03-10 16:33:44,097 INFO ExportHelper.cs: 234 - Copying log file
+2026-03-10 16:33:44,102 INFO ExportHelper.cs: 439 - Copying C:\Users\LGX\sw2urdf_logs\sw2urdf.log to C:\实验室科研\实验场景\120degree_model\export.log
diff --git a/src/afp_mjc/env/120degree_model/launch/display.launch b/src/afp_mjc/env/120degree_model/launch/display.launch
new file mode 100644
index 0000000..8ae6ad7
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/launch/display.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/afp_mjc/env/120degree_model/launch/gazebo.launch b/src/afp_mjc/env/120degree_model/launch/gazebo.launch
new file mode 100644
index 0000000..2cf5239
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/launch/gazebo.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL b/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL
new file mode 100644
index 0000000..53ccefd
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL
new file mode 100644
index 0000000..70316d2
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL
new file mode 100644
index 0000000..6e2a0b5
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL
new file mode 100644
index 0000000..a43fe75
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL
new file mode 100644
index 0000000..bc26d7e
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL
new file mode 100644
index 0000000..65b6f43
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL
new file mode 100644
index 0000000..6024889
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL
new file mode 100644
index 0000000..77bb6b2
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL
new file mode 100644
index 0000000..84d87d7
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL differ
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_8.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_8.STL
new file mode 100644
index 0000000..2602c53
Binary files /dev/null and b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_8.STL differ
diff --git a/src/afp_mjc/env/120degree_model/mjcf/120degree_model.xml b/src/afp_mjc/env/120degree_model/mjcf/120degree_model.xml
new file mode 100644
index 0000000..b2a299f
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/mjcf/120degree_model.xml
@@ -0,0 +1,44 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/afp_mjc/env/120degree_model/package.xml b/src/afp_mjc/env/120degree_model/package.xml
new file mode 100644
index 0000000..b1133e0
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/package.xml
@@ -0,0 +1,21 @@
+
+ 120degree_model
+ 1.0.0
+
+
URDF Description package for 120degree_model
+
This package contains configuration data, 3D models and launch files
+for 120degree_model robot
+
+ TODO
+
+ BSD
+ catkin
+ roslaunch
+ robot_state_publisher
+ rviz
+ joint_state_publisher_gui
+ gazebo
+
+
+
+
\ No newline at end of file
diff --git a/src/afp_mjc/env/120degree_model/urdf/120degree_model.csv b/src/afp_mjc/env/120degree_model/urdf/120degree_model.csv
new file mode 100644
index 0000000..b9e5148
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/urdf/120degree_model.csv
@@ -0,0 +1,2 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-1.66558744151121E-17,-0.0104159414126801,0.0200047656957359,0,0,0,0.58117137694643,0.00187979355618849,2.92938722267831E-18,-8.66486024079702E-19,0.00235801610989525,0.000548852531474529,0.00339625329260278,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,,,鍧愭爣绯1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
diff --git a/src/afp_mjc/env/120degree_model/urdf/120degree_model.urdf b/src/afp_mjc/env/120degree_model/urdf/120degree_model.urdf
new file mode 100644
index 0000000..ba1aaa3
--- /dev/null
+++ b/src/afp_mjc/env/120degree_model/urdf/120degree_model.urdf
@@ -0,0 +1,47 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL b/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL
new file mode 100644
index 0000000..29401e7
Binary files /dev/null and b/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL differ
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL
new file mode 100644
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index 306e7a5..363009e 100644
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