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diff --git a/tactile/code/assets/MuJoCo hands.xml b/tactile/code/assets/MuJoCo hands.xml
new file mode 100644
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diff --git a/tactile/code/assets/MuJoCo phantom.xml b/tactile/code/assets/MuJoCo phantom.xml
new file mode 100644
index 00000000..57c5e232
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diff --git a/tactile/code/assets/MuJoCo scene simple.xml b/tactile/code/assets/MuJoCo scene simple.xml
new file mode 100644
index 00000000..a9d08de1
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\ No newline at end of file
diff --git a/tactile/code/assets/balloons.xml b/tactile/code/assets/balloons.xml
new file mode 100644
index 00000000..3d7f6ab6
--- /dev/null
+++ b/tactile/code/assets/balloons.xml
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\ No newline at end of file
diff --git a/tactile/code/assets/cover.png b/tactile/code/assets/cover.png
new file mode 100644
index 00000000..d47f4aa3
Binary files /dev/null and b/tactile/code/assets/cover.png differ
diff --git a/tactile/code/assets/deformable_cloth.xml b/tactile/code/assets/deformable_cloth.xml
new file mode 100644
index 00000000..cbfc5305
--- /dev/null
+++ b/tactile/code/assets/deformable_cloth.xml
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\ No newline at end of file
diff --git a/tactile/code/assets/deformable_jelly_cube.xml b/tactile/code/assets/deformable_jelly_cube.xml
new file mode 100644
index 00000000..89ac2cd4
--- /dev/null
+++ b/tactile/code/assets/deformable_jelly_cube.xml
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diff --git a/tactile/code/assets/deformable_sponge.xml b/tactile/code/assets/deformable_sponge.xml
new file mode 100644
index 00000000..641d25a8
--- /dev/null
+++ b/tactile/code/assets/deformable_sponge.xml
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