diff --git a/GR1/README.md b/GR1/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7bf986ff057f9db747d22a2379a86ad6e6e4da20
--- /dev/null
+++ b/GR1/README.md
@@ -0,0 +1,21 @@
+# Name table of robot for clarify
+> *Notice: There are two types of dexterous hand, fourier hand and inspire hand. Select the correct `urdf` with the hand you have.*
+
+| Product Name | Code Name |
+| :----------: | :--------: |
+| GR-1 | GR1T1 with dexterous hand |
+| GR-1L | GR1T1 with fourier jaw |
+| GR-1 Pro | GR1T2 with dexterous hand |
+| GR-1L Pro | GR1T2 with fourier jaw |
+
+# Model List
+- GR1T1
+ - GR1T1_jaw: The `urdf` for GR1T1 with foueire jaw.
+ - GR1T1_fourier_hand: The `urdf` for GR1T1 with fourier hand.
+ - GR1T1_inspire_hand: The `urdf` for GR1T1 with inspire hand.
+- GR1T2:
+ - GR1T2_jaw: The `urdf` for GR1T2 with fourier jaw.
+ - GR1T2_fourier_hand: The `urdf` for GR1T2 with fourier hand.
+ - GR1T2_inspire_hand: The `urdf` for GR1T2 with inspire hand.
+
+
diff --git a/GR1/gr1t1/basic_urdf/gr1t1.urdf b/GR1/gr1t1/basic_urdf/gr1t1.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ee62fd68b794388c5e9620c9ec3c66aa35b232a7
--- /dev/null
+++ b/GR1/gr1t1/basic_urdf/gr1t1.urdf
@@ -0,0 +1,1102 @@
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diff --git a/GR1/gr1t1/basic_urdf/gr1t1_dummy_hand.urdf b/GR1/gr1t1/basic_urdf/gr1t1_dummy_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..236e22453bec7abfb0f1f79606be3c95de0b1e3e
--- /dev/null
+++ b/GR1/gr1t1/basic_urdf/gr1t1_dummy_hand.urdf
@@ -0,0 +1,963 @@
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diff --git a/GR1/gr1t1/meshes/dummy_hand/dummy_left_hand.STL b/GR1/gr1t1/meshes/dummy_hand/dummy_left_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb18389aa4521d55ba4bf5058b73a23cfc9a5f78
--- /dev/null
+++ b/GR1/gr1t1/meshes/dummy_hand/dummy_left_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be0f53bcff57eff563c26081e8454041bcf1e8a74ac246b48697cf02ae98fb0
+size 1000034
diff --git a/GR1/gr1t1/meshes/dummy_hand/dummy_right_hand.STL b/GR1/gr1t1/meshes/dummy_hand/dummy_right_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f86380542f0c1088f4a461ad0c38fa709f362761
--- /dev/null
+++ b/GR1/gr1t1/meshes/dummy_hand/dummy_right_hand.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d9021a2540fb0c1279d0286fe3824c4b395af6615c714112efa7a9860106b6
+size 1000084
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_hand_base_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..35e2e4b234726c65016cef684bfe3a0d65bd94e4
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f359bc30a65d5fafc689a4ffbf28be83cab836bef9db8b230c29a7fe638e77f
+size 1000084
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_intermediate_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_intermediate_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7f3b6e3c33283fe1409e626f992dd25b072ee083
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_intermediate_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ff3aa83289611c6246c863e17d7094a8337c74b8f719d2452413205d48d677
+size 342884
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_proximal_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ea8cbcc04f7dda5199dd37c591f222ae0b09a4b7
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_index_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eefa8be944c03546451e642cf38243d821916c0934bbeff8e8ede92354125b9
+size 342284
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_intermediate_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_intermediate_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..117889b121c1512a7ec7fe2b5e04222263e092c5
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_intermediate_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62305ce31619c4256a18dcbf6ccc59e188e5dbce0dcba9cfb4fb6cbefbfbbe17
+size 312684
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_proximal_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_proximal_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c0a71f3e4e0ed68c27392a602db2a0cb1b1e80db
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_proximal_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9300c4b6bcd611d3b909dcea603bca93419817132ad07bc4b26475370908a8da
+size 341884
diff --git a/GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_intermediate_link.STL b/GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_intermediate_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0cf3b033ad7fbdd727a16f40c52afe7b5ff1791a
--- /dev/null
+++ b/GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_intermediate_link.STL
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diff --git a/GR1/gr1t2/basic_urdf/gr1t2.urdf b/GR1/gr1t2/basic_urdf/gr1t2.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..760fed8caff7c33bb38e6e02300671904739fe7d
--- /dev/null
+++ b/GR1/gr1t2/basic_urdf/gr1t2.urdf
@@ -0,0 +1,1114 @@
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diff --git a/GR1/gr1t2/basic_urdf/gr1t2_dummy_hand.urdf b/GR1/gr1t2/basic_urdf/gr1t2_dummy_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..08b568d9baec0e9c2359c6d7aa206ce4271633c9
--- /dev/null
+++ b/GR1/gr1t2/basic_urdf/gr1t2_dummy_hand.urdf
@@ -0,0 +1,963 @@
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diff --git a/GR1/gr1t2/meshes/dummy_hand/dummy_left_hand.STL b/GR1/gr1t2/meshes/dummy_hand/dummy_left_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb18389aa4521d55ba4bf5058b73a23cfc9a5f78
--- /dev/null
+++ b/GR1/gr1t2/meshes/dummy_hand/dummy_left_hand.STL
@@ -0,0 +1,3 @@
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+oid sha256:0be0f53bcff57eff563c26081e8454041bcf1e8a74ac246b48697cf02ae98fb0
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diff --git a/GR1/gr1t2/meshes/dummy_hand/dummy_right_hand.STL b/GR1/gr1t2/meshes/dummy_hand/dummy_right_hand.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f86380542f0c1088f4a461ad0c38fa709f362761
--- /dev/null
+++ b/GR1/gr1t2/meshes/dummy_hand/dummy_right_hand.STL
@@ -0,0 +1,3 @@
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diff --git a/GR1/gr1t2/meshes/fourier_hand_6dof/L_hand_base_link.STL b/GR1/gr1t2/meshes/fourier_hand_6dof/L_hand_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..35e2e4b234726c65016cef684bfe3a0d65bd94e4
--- /dev/null
+++ b/GR1/gr1t2/meshes/fourier_hand_6dof/L_hand_base_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/GR1/gr1t2/meshes/fourier_hand_6dof/L_index_intermediate_link.STL b/GR1/gr1t2/meshes/fourier_hand_6dof/L_index_intermediate_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..7f3b6e3c33283fe1409e626f992dd25b072ee083
--- /dev/null
+++ b/GR1/gr1t2/meshes/fourier_hand_6dof/L_index_intermediate_link.STL
@@ -0,0 +1,3 @@
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+newmtl basic_color
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+
+newmtl handle
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+version https://git-lfs.github.com/spec/v1
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+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
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+version https://git-lfs.github.com/spec/v1
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+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
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+version https://git-lfs.github.com/spec/v1
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+newmtl basic_color
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+newmtl plastic
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+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/head_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/head_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2843c46017d03f86504e13453d632330046955a1
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/head_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6be668083f682e9975bda152eacd7dd1514e9b6ddbd2b254e049219e197bb990
+size 1375470
diff --git a/GR1/gr1t2/meshes/gr1t2/imu_link.STL b/GR1/gr1t2/meshes/gr1t2/imu_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..557d10588565d51699f7fdfb262bb53a65adac8b
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/imu_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b65dd71b959471b1518443033e150d7c1871410fc7c244fbebbb62f2506c37
+size 375034
diff --git a/GR1/gr1t2/meshes/gr1t2/imu_link.mtl b/GR1/gr1t2/meshes/gr1t2/imu_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/imu_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/imu_link.obj b/GR1/gr1t2/meshes/gr1t2/imu_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7e11b07fbd7f825d5a4ee8fe90cb8feb7715c5a
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/imu_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb7c326adf93dd76acb8840bd68e136147ef6785bf6b4d9fad41cdc8a392538
+size 880227
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..9674bce763b271d868bceb1a5e457703a3dc966a
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a82aa5814e1ea34898ea400ffacfb7f7bc56ec17aa2a07cccfed17e15812e3de
+size 401084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35c95005244cf99dae3a4daf283826d63690534d
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524ab060507a62d46f08346be3afbe18d1ded758332f358e9794fa35702e30a6
+size 483619
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f3ae17afa1083ae0f460593a4a5fee392db101f1
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fddf9dd24dab9be4d64196d09ac530ce343b0731e852b4eb7748e3b53f4b082
+size 375084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c810a228ab86994073c069067a2c28bf744b8b3d
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl rubber
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.300000
+d 1.000000
+illum 2
+Pr 0.600000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basewi.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c93de8fc849f991d698cde176499f14a09d37be
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_foot_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f2d3c8d92dfa92b9571610b3c18ee6f1035a1f48b2965f81d6ff2fae6deec4
+size 1021001
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e2cd68cd641c3701104e59d61cf959ad2b6b10a1
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:631a98fa1e499af2d66e43acb0acd44b74e363a187a120cf40bf49f72c8219f6
+size 475034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..10cd0f334430f32c81b51cc2b5e8cea51adec14b
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d01a84415098f938efe5fe68e5ce92d6d01c6bf479a8650889252847869259c2
+size 1249650
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ebbc355402b94afd76c8389488a0c11412ac3fbc
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f50b8e7ed339b8951d93758b8d8c8e54144d4f5f4f5a264fa83eafa77d9ca2
+size 139684
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd340ce87ada42bb6849aeea7d6c388bf1bb7a79
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5f396f0b7df266d87cc37966da4e0de4c10f65dc4066c15c883229ba1ebe2ab
+size 164636
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3aea77f4f900f3e271e4351d0c6a873ef4311caa
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80726d3ba15ae2ce08fc55429c2aaa17d0b0ad73f1b91f6bc6f2d00f3da7739
+size 600034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f09764a5079d743d90b838bccfe8e2e30cacd6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl plastic
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2a0656886bc2b4547ed7ceda68342efb4848a1a0
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_hand_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:731194bb8799b70e2750229171ff842d8deae9b089d8ec6a5c2994068abee635
+size 1590277
diff --git a/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a95be48a288f126ebf6735828ccdec6e539c66a7
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7154dc3272559fdaec8bbff5ad6e34933f556c2da85ea96504f65dcf603ed015
+size 500084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8fd38eab5dc26c0c7ded7e99f78300239ed3486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_lower_arm_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac5afd9307e30d61bfb2806e0bc0a6ef837be952ce664c9c58fac523546393d
+size 1437394
diff --git a/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..344e76289679e174e5bd42ab0af7e0c08d634329
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d1db4db48e12534b72d3139db7cea443c79017b2682c28c502dee7d84f7309d
+size 750034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..51dd8358533e23c12a6e2ee516228436e76ca5a1
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_shank_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b83be836fb19a8f8715a9514a4d88f25d6f19bb99e56aac37b5665f630b766
+size 1306120
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..82dfd8b8d627c942411f160f029e6f27d1dec0bd
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ded073de3a74f8a237c528d6a48d515898a5992d64e7d3ae67bfa0de5e64f4
+size 750084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..507d005387b3c4a93097d5c490961588be0f90a9
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f108b1d4ab8620a44cb42feab98f7e7e5d8834ede911dcfde1727a3b0d350dbd
+size 1404340
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0c4946cb33906e7c0bf08dbaae1dbaf98560f1f5
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b352b4355ff471f84cad2d54d200ca28c3f130818e44f6a04cb9891aaeafb64f
+size 600034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e3ba19cc7a3dcb5bd2f81570456fe1826cbc9d36
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl Material
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/yellow.png
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f6c9f2bb2bd2f8dbcb96d36cf256d0e15157b2e9
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe94da8ca9aca2d38aae1394e7bb10ea5b3a9b579e461a663c74048569153d32
+size 1304647
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e96b26219f70369c16d7b58fc361daf87e3ffc3c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0f131dba2176b92dcff79099d870a26d835fa9629bebda717ad74365bbee8d
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5adf0259ba1f9aaf3097a589fc83a0037494bbeb
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_thigh_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8e56112536bce5294382c8a68a7c4fa0cabaf6d96af31a4fb805da9f3cdcb9f
+size 1089719
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..408e32d8200d81742ca0047b7f0682ec30643602
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557dc07643c61515bc03acff739fe12a10b6435c8dfeebb9a57a222bf1713a91
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..350c1a4acb7fb710e5857a262f771a1ae7a886b0
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd68c1a8cb27683edf1c870e9ddb48cf592e337d346d0de3376c3cc159705fc7
+size 1152254
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..a4f53c6fc6a7853f109a02a882ddfd1ec5ef9abe
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1bd42c054ad6d02e2b1c1d85147680819cfba89d948fd4c8c1a06ae048e04c6
+size 500034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f09764a5079d743d90b838bccfe8e2e30cacd6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl plastic
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7c7446f5a9671922bab1115f65fb81551d54816
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15f9be9064128e63ccaeaa9aa3f44069ee573faa2d351626bb08ffc5a4bc13c7
+size 1480843
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..509a9607d17209f7811af6e14450be94cc8ee8d9
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fe2d6ccf53f91387ba1b5a3f246d14396c93008bfc0609a7f022ab4a38cd24
+size 600034
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6607b86ea4a29f6cf4b9aef6dfdae4ff0d34527
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/left_upper_arm_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b382962cfe671a0ae6b888a7e14b300fc57a890e4ca206dca96108ff779477
+size 1403978
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..97c116c3d9e0736e604223c235507f2a49590ea6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89509e983dd02e26fc3f7911401ad60f86cc35d1255252cda9f058978279d23b
+size 401084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92c54bd00f58a097093420bfadba06b9b6e9e21f
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2895b904866eacdad4bb886c62930eba5d69ade573bb4269522cc0648f2eb096
+size 487986
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c114203c1a2f5334edcd544dc117b9c1e6d9fa4b
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b615ff8d228225c1e7315d642e7249c4f250d3ace1ff55c51baa74807e01be58
+size 375084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c810a228ab86994073c069067a2c28bf744b8b3d
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl rubber
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.300000
+d 1.000000
+illum 2
+Pr 0.600000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basewi.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3139c210674c36f2db23c3a5bd21db5210895a5
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_foot_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b390a7c97e7e0245fc9decb0f5acaf18fdb0bfb8f3eb768991d76d85b49c126
+size 1024151
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f047d4c45e86d42768c3a328f70b5c95945be805
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb494451983bf5e97a2ce66d689a0f7c2065efd0fadfe30f704771dc4ee8d17
+size 475084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00b94fc3cdd6b977d2b8de5a1d0291361969c3a3
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6210ba2ee65973a1731e75d03dc09883a103d4ce386542a4a61e7e596d861a7
+size 1246153
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2200704ac9a6bca46b2cecda525d59dc3462ad40
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:880e8eb1a2b95c3a1c791639145bc6186de2f0d1cf1f4647dcdc35b8fdfbc686
+size 139684
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..99a797b926467ab478ceb4f8fbf675496c0d0458
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f27039013d80c1bccafd50714c97661cae95b3ec0ac644fccc0418441a5b41
+size 163894
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..2122562661919605c1aa2d79273bb84d8edd5ea8
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3421c3aa04fc4cdae1cffa2ecacbc332b9d79082dae806d40743552d1481fbd0
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f09764a5079d743d90b838bccfe8e2e30cacd6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl plastic
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848927d552b0411415785026005bb56270a6e1ce
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_hand_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f9e46db9ebe52a480d8ee83789479a7ee7dbbdda89b1a7ada2a6508ed1b016
+size 1589257
diff --git a/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0b715a298bde71c1745ce9b9d4f8d6b6ca500829
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457f8617d0e101c54fc8ca4b48b766d7ffd9bced37abfaaa495890755f6bcfb9
+size 500034
diff --git a/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9bacf8081ef69f63c0f538cdd635d12b9dac0e6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_lower_arm_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5083c5b219523f46de362fc6978a82b080fa86a0aca25dea20e3651b1a7df35e
+size 1436258
diff --git a/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cf37fde63a6e9e214717a255d2ae0c5fbbbca246
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925ace820c2865eec728c676854a6419fcb3611fb60df4e4fd9c9ab7b91a410c
+size 750084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c52e6491e43c934b419ff8422020f3e2185c9d
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_shank_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb39b6443ae38476a57fd5855ca4df781d0ec6247b5eb738cbe5540705c00c31
+size 1318555
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..09fb5a999150b03badb7018c761d4af79813349d
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5332d0bc6aa6badd2c43985cd78a80b2ef4e938eeb074c59316fd73e64335dec
+size 750034
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4377e8ed8d74461066c08006523f7774521516d7
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dec1a4812c1f3d4f9927bab5801c2d292115fb0ff4236ef2ba00e94b680c78b
+size 1397016
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3243cf956b761544efbc0128ce8ce3d7983bc1e1
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:854881fc09f4229a00d67947206b3a843ad7d683ad596c21c2ee3707760b9b28
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8ed3b3db59b01216a822d7f2139744d34633fa39
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl yellow
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/yellow.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a0102aceddb8f0a168cea67da9a2d03ad118f94
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f78203edae8975317256e6be35bf18389503ac1efe6ef2ebaf170aad53bb08
+size 1310453
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..8957c7ff1ddffdada47f67a3b2037f742e444cad
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be2142063295e5f611296a2af4642c0d9f0b4ec68e17dd023362e3d869912bd8
+size 600034
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c280532d6c968267804d44839930341ad451672c
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.mtl
@@ -0,0 +1,15 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..27c365cf5eb4cd590d7bb56a06e2b5f208c2d913
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_thigh_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c63f91d9a97f710afc1a6b8f9089f6af9e0384a6888ee23859ff7445f1193c2
+size 1099555
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..21e2694e9b0fbaf2ab2f54bba3fde85c2b576745
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba774e19406cb7550b83ff2c31e90e7a47709857875f35aa82ad8aa2a8a6e4db
+size 500034
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..12c58e00c9996f3deeea28f0c3d3bcd6cf77981e
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b1e94da504b48094441e7c3f1da6022cbdfaa57c476b2590959aaea89a29a0
+size 1359565
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..dfe5a299bedba41df6a542394ae2d84499872c87
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd05f9b644e05fc08fe94c086791a156ac3281534545e1a2d5ac1f18cdaf5a89
+size 500084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..40f09764a5079d743d90b838bccfe8e2e30cacd6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.mtl
@@ -0,0 +1,41 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl plastic
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.obj b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21f0ff322402e67226db9e84f9b300e02824064
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_roll_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ee4466e044e98f4fb50da8da56efe377663c266a01c6229bf77492ebd124519
+size 1386441
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.STL b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..e6a47d721768bc8ebce236986eef44cf1df365ae
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43432b54237752c17a19f2adf05b91ce8df14052518f5f2a777d0ca2be892d67
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.mtl b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.obj b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4dcff919fcee1231c0cf7ec7e81f3817705aeb0
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/right_upper_arm_yaw_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b66b0b8fefd41671acf33c1e4a772939bef7af3daa235641499174f98f5951d
+size 1397526
diff --git a/GR1/gr1t2/meshes/gr1t2/torso_link.STL b/GR1/gr1t2/meshes/gr1t2/torso_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b9f733d73a2a0286fed39d0ed314578ddac3d91e
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/torso_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6c867efed47c9f335d7311d3f13df643cace20ba55afef274679f10779eaf89
+size 750034
diff --git a/GR1/gr1t2/meshes/gr1t2/torso_link.mtl b/GR1/gr1t2/meshes/gr1t2/torso_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..df85d8ab1936b65229fc2b5ae8c94a91aa2f80e6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/torso_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
+
+newmtl plastic
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.300000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../../../../../out/meshes/textures/headbase.png
diff --git a/GR1/gr1t2/meshes/gr1t2/torso_link.obj b/GR1/gr1t2/meshes/gr1t2/torso_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c799ec21b4b58573bf775d607547664b47a79770
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/torso_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509878d024e3afcdd7a8593dc48783da7fde0b42a7ec49a000eb57efab749a81
+size 1458895
diff --git a/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.STL b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..19f06da205ad668059f7afb485f1bc8127da69cb
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206aff6eeeddae0b505c43eebadae61654546134dc04077ae1b855a4127b4395
+size 600084
diff --git a/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.mtl b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ebd081bb6920b8584ee848836e705103722a9486
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.mtl
@@ -0,0 +1,28 @@
+# Blender 4.4.3 MTL File: 'None'
+# www.blender.org
+
+newmtl actuator
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.400000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/headbase.png
+
+newmtl basic_color
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+Pr 0.500000
+Pm 0.000000
+Ps 0.000000
+Pc 0.000000
+Pcr 0.030000
+map_Kd ../textures/basecolor.png
diff --git a/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.obj b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..087a36a70f0159e059f9c92c3a019bd27b341fda
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/waist_pitch_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c60ff72b83e0e6ae3d870da8eff396a9102c0e6c8295250a0033c75b0fc8657c
+size 1364732
diff --git a/GR1/gr1t2/meshes/gr1t2/waist_roll_link.STL b/GR1/gr1t2/meshes/gr1t2/waist_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4418136e360eaf1a404c5e8036916316e7d93cd6
--- /dev/null
+++ b/GR1/gr1t2/meshes/gr1t2/waist_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88deca94359129ea354a57b61849336f9e83829dda3d30015d5c180168dece88
+size 500084
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diff --git a/arms/iiwa14/iiwa14.urdf b/arms/iiwa14/iiwa14.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a98e82638889154f2f9269f62635e4e08a47562c
--- /dev/null
+++ b/arms/iiwa14/iiwa14.urdf
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diff --git a/arms/iiwa14/iiwa14_glb.urdf b/arms/iiwa14/iiwa14_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89d1a206c12ab1d800122d230e981e971c7b9ce9
--- /dev/null
+++ b/arms/iiwa14/iiwa14_glb.urdf
@@ -0,0 +1,217 @@
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..287b9e7bfe69e4f4493ac74457005df3c0960f75
--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_0.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
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+newmtl Opaque(153,153,153).001
+Ns 250.000000
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_0.obj
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..6cb5f5042d3bdcadbd1368bd6ab9d217135882c2
--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa14/meshes/visual/link_1.mtl b/arms/iiwa14/meshes/visual/link_1.mtl
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_1.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_1.obj
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_2.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa14/meshes/visual/link_2.mtl b/arms/iiwa14/meshes/visual/link_2.mtl
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index 0000000000000000000000000000000000000000..ec6f78f274fa67a6da9fa4b86939b058530a99d0
--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_2.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_2.obj
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..10d73790b5233e4f5bb389839984ab001a9008cb
--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_3.glb
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_3.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_3.obj
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_4.glb
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_4.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(204,204,204).006
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/arms/iiwa14/meshes/visual/link_5.glb
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
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+newmtl Opaque(153,153,153).001
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+# Blender 4.1.1 MTL File: 'None'
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+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/iiwa7_glb.urdf b/arms/iiwa7/iiwa7_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f11c93bc7be5311522f62d559f8f6e848962710c
--- /dev/null
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diff --git a/arms/iiwa7/meshes/collision/link_0.obj b/arms/iiwa7/meshes/collision/link_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..961c01af5382119106a8f93788041456ae494e34
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/collision/link_1.obj b/arms/iiwa7/meshes/collision/link_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b95defcc6eb0ea12db225e42290b3a3fd814bccb
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/collision/link_2.obj b/arms/iiwa7/meshes/collision/link_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..43779c7f41f91ad5167bc338288036d4fd85e5aa
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/collision/link_3.obj b/arms/iiwa7/meshes/collision/link_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b7a5b2d5e64fe06e5ee0fbe7caac83f77d0610c
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/collision/link_4.obj b/arms/iiwa7/meshes/collision/link_4.obj
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index 0000000000000000000000000000000000000000..52ee71c6dd7df5c067f9b9c1f6e0e1ce31d201d8
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/collision/link_5.obj b/arms/iiwa7/meshes/collision/link_5.obj
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index 0000000000000000000000000000000000000000..7bf3ac767601dd4c3be8ca068f588d33f866a592
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_5.obj
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..dc048cc96a7b4e66be09f84c0df98ee5e5c00903
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_6.obj
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..d4f8ad7d32f4e235d652554d0e143be462ed423f
--- /dev/null
+++ b/arms/iiwa7/meshes/collision/link_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_0.glb b/arms/iiwa7/meshes/visual/link_0.glb
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index 0000000000000000000000000000000000000000..f6fac4b7f40ca68efe22629f48787935768d7fe9
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_0.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 275972
diff --git a/arms/iiwa7/meshes/visual/link_0.mtl b/arms/iiwa7/meshes/visual/link_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c1c8368daeeb3886a07bcf3cb6d6a3140f0a7633
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_0.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
+Ka 0.800000 0.800000 0.800000
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diff --git a/arms/iiwa7/meshes/visual/link_0.obj b/arms/iiwa7/meshes/visual/link_0.obj
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index 0000000000000000000000000000000000000000..958f9883686f816521b3601fd372b64f5e33ed7e
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_1.glb b/arms/iiwa7/meshes/visual/link_1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..381574d09d65fd283c9fcfb009345af54dc753a6
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_1.mtl b/arms/iiwa7/meshes/visual/link_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..852b1cd4400df9805fdf8da08ce7b4ef4e05ec1d
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_1.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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diff --git a/arms/iiwa7/meshes/visual/link_1.obj b/arms/iiwa7/meshes/visual/link_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7276b8580fc83c1056346e04fb22e2667b578d5f
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..5b74ee63670c904a279f2c4b45a9827bb010a4dd
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 419992
diff --git a/arms/iiwa7/meshes/visual/link_2.mtl b/arms/iiwa7/meshes/visual/link_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..31a8f212fad4e2eff04c11bdfb5e39494a210b3f
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_2.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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+newmtl Opaque(204,204,204).003
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+newmtl Opaque(255,127,0).002
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+newmtl Opaque(51,51,51)
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diff --git a/arms/iiwa7/meshes/visual/link_2.obj b/arms/iiwa7/meshes/visual/link_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f24b2dac674ca406551b1420782d2b291a7433f
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1232766
diff --git a/arms/iiwa7/meshes/visual/link_3.glb b/arms/iiwa7/meshes/visual/link_3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7c0664829d0ed447a80bf665947d338777e396ae
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_3.mtl b/arms/iiwa7/meshes/visual/link_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..852b1cd4400df9805fdf8da08ce7b4ef4e05ec1d
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_3.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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diff --git a/arms/iiwa7/meshes/visual/link_3.obj b/arms/iiwa7/meshes/visual/link_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a7a0e54dfbfae4d7a9cb8a094c81b1c0fdde1c1
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..779e632e68cf8c8ffe1fccc4c4cdb3b4825c3eee
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_4.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_4.mtl b/arms/iiwa7/meshes/visual/link_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b4223894d35ec369bffa24f4f347ae8309f3b173
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_4.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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+newmtl Opaque(255,127,0).002
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+newmtl Opaque(51,51,51).001
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new file mode 100644
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--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_5.glb b/arms/iiwa7/meshes/visual/link_5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1ec8843ce9759c4c5fa69b3d947f64bc21aaec36
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_5.mtl b/arms/iiwa7/meshes/visual/link_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..852b1cd4400df9805fdf8da08ce7b4ef4e05ec1d
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_5.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
+Ns 250.000000
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new file mode 100644
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--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_6.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_6.mtl b/arms/iiwa7/meshes/visual/link_6.mtl
new file mode 100644
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--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_6.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(153,153,153).001
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+newmtl Opaque(51,51,51).002
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/iiwa7/meshes/visual/link_7.glb b/arms/iiwa7/meshes/visual/link_7.glb
new file mode 100644
index 0000000000000000000000000000000000000000..2d369845564efce16ac72c45889fcd7538f7d203
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_7.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df740627902694793309c45419a43876ce79536d415dea4769a1a0ad10cb3fba
+size 176560
diff --git a/arms/iiwa7/meshes/visual/link_7.mtl b/arms/iiwa7/meshes/visual/link_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5f9e9a85ec8cdfaf4440923003cb7200f84c9137
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_7.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Opaque(102,102,102)
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.400000 0.400000 0.400000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+
+newmtl Opaque(153,204,204)
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.600000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+
+newmtl Opaque(204,204,204).001
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
diff --git a/arms/iiwa7/meshes/visual/link_7.obj b/arms/iiwa7/meshes/visual/link_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..080c534b1a83f6ecdff3033a2b6b08921895a89a
--- /dev/null
+++ b/arms/iiwa7/meshes/visual/link_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bc83669282855ff015fccd63ad23ab32dff5cc557a0fe8af22093718e46e08a
+size 354046
diff --git a/arms/rm75/meshes/collision/rm75_link_0.obj b/arms/rm75/meshes/collision/rm75_link_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4554c8e5cde0292c9017c6ef8c8b308ba17f2791
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbae5beef4ca1e198a40316e18194862c60b1e297a418404a30541ef9c9d94e3
+size 61866
diff --git a/arms/rm75/meshes/collision/rm75_link_1.obj b/arms/rm75/meshes/collision/rm75_link_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8f42cd75e908f582890d1f9c6a9b81f903e57985
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374e400b0a5ed6fed3e65c5f9b44c5d561dfb14ba7b629fc6503d1589376cc99
+size 105570
diff --git a/arms/rm75/meshes/collision/rm75_link_2.obj b/arms/rm75/meshes/collision/rm75_link_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e29df0588b3e68e844af1ae808e59a11234ba78
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079e8672d1092d28f081b89e281a1d1f213be9bd77ccb3730bc2f8553e2991c3
+size 101509
diff --git a/arms/rm75/meshes/collision/rm75_link_3.obj b/arms/rm75/meshes/collision/rm75_link_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5cdfb3f7504b8061abe8b65b5add9cbe6afe4004
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a5f4c8545c0938d55833497e7bc002cac76ec6a9b1268a7195877e869d93605
+size 99991
diff --git a/arms/rm75/meshes/collision/rm75_link_4.obj b/arms/rm75/meshes/collision/rm75_link_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52aa4b22e944642fc164af316c02bcdb29badaa7
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef30474c37f0a350179ab94c570e528d7a8b18f8c7532e6c3d371643d436b8da
+size 119514
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new file mode 100644
index 0000000000000000000000000000000000000000..c8024e640e4f7eed577cf8dfb56f8cfda1e54669
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_5.obj
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+version https://git-lfs.github.com/spec/v1
+oid sha256:ab640d76193f59a0a88400436b091ffb8596a846d3fd6a7c2206da9a44db9ddf
+size 107391
diff --git a/arms/rm75/meshes/collision/rm75_link_6.obj b/arms/rm75/meshes/collision/rm75_link_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..89cff541f4e825ca6fa2edf5bd0f8da02e341036
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_6.obj
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+version https://git-lfs.github.com/spec/v1
+oid sha256:3d8b2349efa11b4f12d68e4e4ae706181888f8de217d9aa6fdfa75ad34f4263b
+size 109278
diff --git a/arms/rm75/meshes/collision/rm75_link_7.obj b/arms/rm75/meshes/collision/rm75_link_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0d3811f595c149ce6761645bb7c07db265bdad3
--- /dev/null
+++ b/arms/rm75/meshes/collision/rm75_link_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb6a269539f722aa2fd6b1b1c40bd4aab7df4e34160bf2500824fa8cb8a5fd0
+size 39930
diff --git a/arms/rm75/meshes/visual/rm75_link_0.glb b/arms/rm75/meshes/visual/rm75_link_0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5f4c6cbc367b51ac20f373310ffb62a4ddbe0fb4
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_0.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97166c6cf21d57a82d43395a577c02822c0e3d52d2ce2bbee632660dcee378e9
+size 208408
diff --git a/arms/rm75/meshes/visual/rm75_link_0.mtl b/arms/rm75/meshes/visual/rm75_link_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5559ee42171a8796037db3d4e5c2949d36ef569
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_0.mtl
@@ -0,0 +1,62 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_plastic
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.015460 0.015460 0.015460
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl blue_metal
+Ns 360.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.001454 0.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl blue_plastic
+Ns 0.000000
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+Kd 0.000000 0.000000 0.212231
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl metal
+Ns 640.000000
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+Kd 1.000000 1.000000 1.000000
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+Ni 1.500000
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+illum 3
+
+newmtl white_cover
+Ns 250.000000
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+Kd 0.950000 0.950000 0.950000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl yellow_metal
+Ns 159.999985
+Ka 1.000000 1.000000 1.000000
+Kd 0.968902 0.554524 0.151721
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
diff --git a/arms/rm75/meshes/visual/rm75_link_0.obj b/arms/rm75/meshes/visual/rm75_link_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..05303ce5341d1c07cd29a9afcd4608ac6b8fa341
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3303c8c6fbb9ea294feba3d17fbcee8dae5a851e34e92aca251f3e6638ddae24
+size 461278
diff --git a/arms/rm75/meshes/visual/rm75_link_1.glb b/arms/rm75/meshes/visual/rm75_link_1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..025fae1e2cc868224d7ff780c2be174ef2d0145c
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:039cedc948141c971cd38e2955ff386fff1e4f7979d98b710cd449cdc5c43d6d
+size 56592
diff --git a/arms/rm75/meshes/visual/rm75_link_1.mtl b/arms/rm75/meshes/visual/rm75_link_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_1.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl white_cover
+Ns 250.000000
+Ka 0.500000 0.500000 0.500000
+Kd 0.950000 0.950000 0.950000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
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+illum 3
diff --git a/arms/rm75/meshes/visual/rm75_link_1.obj b/arms/rm75/meshes/visual/rm75_link_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4bb0ab5b06e55457678457196a3261d4c004e446
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1932ab8eafdb196047f8ebe8bf4d6ba6d09514981ce8d74783ccd6203cd72ae6
+size 141745
diff --git a/arms/rm75/meshes/visual/rm75_link_2.glb b/arms/rm75/meshes/visual/rm75_link_2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..78cc7eab3ef20c4750459a60673a6b8f4597dee0
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab351fac545f078bb4783094b33339356e63488595e83a9bdf196115c5f7a5d
+size 82236
diff --git a/arms/rm75/meshes/visual/rm75_link_2.mtl b/arms/rm75/meshes/visual/rm75_link_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_2.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
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+d 1.000000
+illum 3
+
+newmtl white_cover
+Ns 250.000000
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+Ke 0.000000 0.000000 0.000000
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diff --git a/arms/rm75/meshes/visual/rm75_link_2.obj b/arms/rm75/meshes/visual/rm75_link_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42d554b2b305457148ae18407f6a0eb725ae354
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f6c187d53a7e0281e4e50179013baf9f136b3351ec4854544470fd19c01e0a
+size 213187
diff --git a/arms/rm75/meshes/visual/rm75_link_3.glb b/arms/rm75/meshes/visual/rm75_link_3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7d99382d19b1b6183897c6622b12f7d5045ad58
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9caa528a42642ee577d2f8741049540f0d01e141a03c2c77b56b9b9bc4225e5
+size 56944
diff --git a/arms/rm75/meshes/visual/rm75_link_3.mtl b/arms/rm75/meshes/visual/rm75_link_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_3.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl white_cover
+Ns 250.000000
+Ka 0.500000 0.500000 0.500000
+Kd 0.950000 0.950000 0.950000
+Ks 0.500000 0.500000 0.500000
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+Ni 1.500000
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diff --git a/arms/rm75/meshes/visual/rm75_link_3.obj b/arms/rm75/meshes/visual/rm75_link_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e21b5619f4202e24ff6d282afe3673c278abe317
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b07a2e1e5c1b90cfae5038c7cdde252da7056c96168f87becf78929fd5dff85
+size 138478
diff --git a/arms/rm75/meshes/visual/rm75_link_4.glb b/arms/rm75/meshes/visual/rm75_link_4.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6520ada89f13c89ec62d86ab8869f4c234f7f080
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_4.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cfe50a92a2e6d4d92356a5b9f1fd7707b92120312a0ad771768933960c709fe
+size 78708
diff --git a/arms/rm75/meshes/visual/rm75_link_4.mtl b/arms/rm75/meshes/visual/rm75_link_4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_4.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
+Ks 0.500000 0.500000 0.500000
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+d 1.000000
+illum 3
+
+newmtl white_cover
+Ns 250.000000
+Ka 0.500000 0.500000 0.500000
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diff --git a/arms/rm75/meshes/visual/rm75_link_4.obj b/arms/rm75/meshes/visual/rm75_link_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..443a13cc9ca1f73a246b9be3bf7bbea9a1826214
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f978b75daf71ddbe8de15b1c369f2aa1237790abc8c5bda99bf24828a09439
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diff --git a/arms/rm75/meshes/visual/rm75_link_5.glb b/arms/rm75/meshes/visual/rm75_link_5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..42a6c234816e6a5330a03fc5ad865a38c8430b06
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77801ddfcca827dd68ad13ea38716d2d6a566325c8a2c7c9b8b41eb633187870
+size 60816
diff --git a/arms/rm75/meshes/visual/rm75_link_5.mtl b/arms/rm75/meshes/visual/rm75_link_5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_5.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
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+
+newmtl white_cover
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diff --git a/arms/rm75/meshes/visual/rm75_link_5.obj b/arms/rm75/meshes/visual/rm75_link_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0cb3eba38f4a6b3057aace79a5575989c2175367
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/rm75/meshes/visual/rm75_link_6.glb b/arms/rm75/meshes/visual/rm75_link_6.glb
new file mode 100644
index 0000000000000000000000000000000000000000..54ae74b296dbc5b3408a15c65604bc2e2d78bce0
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_6.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48bb439c07aa8228e2fc4d3f86a2c828ce51838a34955babb8bf1760cef7e6b4
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diff --git a/arms/rm75/meshes/visual/rm75_link_6.mtl b/arms/rm75/meshes/visual/rm75_link_6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4dafd1cf49ecff3ba15d205cfbcda0e888651699
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_6.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
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+
+newmtl white_cover
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diff --git a/arms/rm75/meshes/visual/rm75_link_6.obj b/arms/rm75/meshes/visual/rm75_link_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3587231517e16823148cd08cb92f492fa3d3a6eb
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccb4c3d8c2291112034878c40c01356c7326255a1db73b7f6f015ec6c675ec6e
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new file mode 100644
index 0000000000000000000000000000000000000000..b3da3f13231f7a8f07f91dab4aa509a059cdb91f
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_7.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870af9c1c9e0b2944432631bd5998a74fda3ead484d884c77f3e8a05978daa1f
+size 107948
diff --git a/arms/rm75/meshes/visual/rm75_link_7.mtl b/arms/rm75/meshes/visual/rm75_link_7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f5fafdb9774851384086826ce96b049b3b34b8e3
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_7.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_rubber
+Ns 39.999996
+Ka 0.200000 0.200000 0.200000
+Kd 0.001758 0.001758 0.001758
+Ks 0.500000 0.500000 0.500000
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+Ni 1.500000
+d 1.000000
+illum 3
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+newmtl metal
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+Ka 0.800000 0.800000 0.800000
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+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
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+newmtl white_rough
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+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
diff --git a/arms/rm75/meshes/visual/rm75_link_7.obj b/arms/rm75/meshes/visual/rm75_link_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..742c442ddeacce22773b0b099071e68177343ff0
--- /dev/null
+++ b/arms/rm75/meshes/visual/rm75_link_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:635e9acb77c95423743c6100caab30bab417e58e9a5a6af1a2ae54b660d10e2a
+size 253166
diff --git a/arms/rm75/rm75.urdf b/arms/rm75/rm75.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8334511c36bea0624c802df21c322532c0c258ce
--- /dev/null
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diff --git a/arms/rm75/rm75_glb.urdf b/arms/rm75/rm75_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce514eda56b7b30163745b43538208efdf02efab
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diff --git a/arms/ur10e/LICENSE b/arms/ur10e/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f8bc3fa0413d5248b010667cdfebe5c023beb0f3
--- /dev/null
+++ b/arms/ur10e/LICENSE
@@ -0,0 +1,88 @@
+TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION
+
+Version: 1.01 / release date: 2023-09-12
+
+These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. The T&Cs constitute a binding agreement between you and Universal Robots. By accessing, storing, copying, sharing, opening, or otherwise using or disposing of the Graphical Documentation, you acknowledge that you are bound by the T&Cs.
+
+1. PERMITTED USE OF THE GRAPHICAL DOCUMENTATION
+
+1.1. You may use the Graphical Documentation for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products, provided that your use does not constitute comparative advertising and is not otherwise unfair, disloyal, or disparaging to Universal Robots.
+
+1.2. Hobbyists, students and/or researchers are allowed to use the Graphical Documentation to create models or similar solely for non-commercial purposes as part of their hobby, academic studies, or research. However, no one is allowed to use the Graphical Documentation to create a physical model or similar for commercial purposes, nor to create or improve a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future robots.
+
+1.3. You are permitted to create a product or solution that simulates, visualizes, or digitally represents a Universal Robots product, regardless of the origin of the underlying software, and regardless of whether Universal Robots or its affiliates have released a product that competes with the underlying software. However, you may not in any way use the Graphical Documentation to create a product or solution that simulates, visualizes or represents a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future products without Universal Robots’ prior written permission.
+
+1.4. You may share the Graphical Documentation or any whole or partial copies thereof with a third party (i) if and to the extent it is necessary for you to do so in order for you to engage in use permitted pursuant to this Section 1, and (ii) you provide the recipient with a copy of the T&Cs. However, you may only make the Graphical Documentation or any whole or partial copies thereof available to the public via download if it is part of a downloadable software package that includes a copy of the T&Cs. If you download a software package that includes the Graphical Documentation, your use of the Graphical Documentation will be subject to and governed by the latest version of the T&Cs, which can be found here: https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt , regardless of whether they are included in the software package or not.
+
+1.4.1. You are not allowed to alter, obscure, remove or replace any copyright or other legal notices, trademarks, business names and/or logos embedded in, superimposed on, affixed to, or otherwise included in, the Graphical Documentation without Universal Robots’ prior written permission.
+
+1.4.2. You may show the Graphical Documentation in whole or in part to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, provided that you display any copyright notice already contained in the Graphical Documentation, cf. also Section 1.4.1.
+
+1.4.3. You may show graphical representations of Universal Robots’ products based on the Graphical Documentation to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, if you, to the extent possible, display the following copyright notice in connection with such use: “© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation.” If the medium that you use limits or does not support the possibility of displaying the copyright notice, you may in good faith disregard this requirement.
+
+1.5. You may under no circumstances use the Graphical Documentation for planning, construction, maintenance, operation, or use, directly or indirectly, in nuclear power plants, missile technology, chemical or biological weapons applications or flight, navigation, or communication of aircraft or ground support equipment.
+
+1.6. Any use of the Graphical Documentation that is not expressly permitted pursuant to this Section 1 constitutes a material breach of the T&Cs.
+
+1.7. If your intended use of the Graphical Documentation is not permitted pursuant to the T&Cs, you may contact Universal Robots via email at legal@universal-robots.com and request a special permission to engage in your particular intended use.
+
+
+2. INTELLECTUAL PROPERTY RIGHTS
+
+2.1. You acknowledge and agree that the Graphical Documentation and all intellectual property rights contained and/or embodied therein, including, but not limited to, rights under the Danish Marketing Practices Act or under similar rules of law, patents, utility models, copyrights and related rights, software, trademarks, semiconductors, designs, know-how, rights in databases, trade secrets, and all applications or pending applications for such in all cases, whether or not registrable in any country, and all rights and forms of protection of a similar nature or having equivalent or similar effect anywhere in the world, shall be and remain the sole property of Universal Robots. Nothing in the T&Cs shall be construed as granting you any license to such rights, including, without limitation, any licenses to use Universal Robots’ trademarks, patents, or designs, except as strictly necessary in order for you to engage in the use permitted pursuant to Section 1.
+
+2.2. If you create any derivative works based on the Graphical Documentation, Universal Robots shall own the intellectual property rights in and to such derivative works. The foregoing notwithstanding, you may use such derivative works in connection with your use of the Graphical Documentation in accordance with Section 1.
+
+
+3. NO WARRANTIES, LIMITATIONS OF LIABILITY
+
+3.1. THE GRAPHICAL DOCUMENTATION IS PROVIDED ON AN “AS IS” BASIS AND UNIVERSAL ROBOTS MAKES NO WARRANTY OF ANY KIND WITH RESPECT TO THE GRAPHICAL DOCUMENTATION AND WE HEREBY EXPRESSLY EXCLUDE ANY WARRANTIES WITH RESPECT THERETO, WHETHER EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, NONINFRINGEMENT, ACCURACY OR ANY OTHER WARRANTIES OR GUARANTEES THAT MAY ARISE FROM COURSE OF DEALING, USAGE, OR TRADE PRACTICE. NEITHER UNIVERSAL ROBOTS NOR ITS SUPPLIERS, INCLUDING – WITHOUT LIMITATION – ITS LICENSORS, MAKE ANY REPRESENTATION, WARRANTY, OR OTHER COMMITMENT REGARDING (1) THE USE OR INABILITY TO USE THE GRAPHICAL DOCUMENTATION; OR (2) ANY RESULTS OF SUCH USE IN TERMS OF CORRECTNESS, ACCURACY, OR RELIABILITY. YOU UNDERSTAND AND AGREE THAT YOU ASSUME THE ENTIRE RISK AS TO YOUR USE OF THE GRAPHICAL DOCUMENTATION.
+
+3.2. TO THE EXTENT PERMITTED BY LAW, IN NO EVENT WILL UNIVERSAL ROBOTS BE LIABLE FOR ANY LOSSES OR DAMAGES INCURRED BY YOU, WHETHER DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY OR CONSEQUENTIAL, INCLUDING LOST OR ANTICIPATED PROFITS, SAVINGS, INTERRUPTION TO BUSINESS, LOSS OF BUSINESS OPPORTUNITIES, LOSS OF BUSINESS INFORMATION OR OTHER DATA, THE COST OF RECOVERING SUCH LOST INFORMATION OR DATA, THE COST OF SUBSTITUTE INTELLECTUAL PROPERTY OR ANY OTHER PECUNIARY LOSS ARISING FROM THE USE OF, OR THE INABILITY TO USE, THE GRAPHICAL DOCUMENTATION REGARDLESS OF WHETHER UNIVERSAL ROBOTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. THE FOREGOING LIMITATIONS APPLY REGARDLESS OF THE CAUSE OR CIRCUMSTANCES GIVING RISE TO SUCH LOSS, DAMAGE OR LIABILITY, EVEN IF SUCH LOSS, DAMAGE OR LIABILITY IS BASED ON NEGLIGENCE OR OTHER TORTS OR BREACH OF CONTRACT.
+
+
+4. INDEMNIFICATION
+
+4.1. You shall defend, indemnify, and hold Universal Robots and its affiliates, employees, and agents harmless, from and against all sums, claims, costs, duties, liabilities, losses, obligations, suits, actions, damages, penalties, awards, fines, interest, and other expenses (including investigation expenses and attorneys’ fees) that Universal Robots may incur or be obligated to pay as a result of your unauthorized use, modification, resale, transfer, shipment, or export of the Graphical Documentation.
+
+
+5. MISCELLANEOUS
+
+5.1. Entire Agreement. Except as otherwise explicitly provided for herein, the T&Cs constitute the entire agreement and supersedes all prior negotiations, promises, understandings, and agreements between the parties with respect to the subject matter hereof.
+
+5.2. Changes to the T&Cs. Universal Robots reserves the right, in its sole and absolute discretion, to change the terms of the T&Cs by providing you with ninety (90) days’ notice.
+
+5.3. Obligations on Legal Successors. The parties undertake to impose the obligations under the T&Cs on their statutory or contractual legal successors, if any.
+
+5.4. Export Laws. You agree to comply with all applicable laws and regulations, including export laws of the United States and any other applicable country or jurisdiction. You agree that the Graphical Documentation will not be shipped, transferred, or exported into any country or used in any manner prohibited by the United States Export Administration Act or any other country’s export laws, restrictions, or regulations (collectively the “Export Laws”). In addition, if the Graphical Documentation are identified as export controlled items under the Export Laws, you represent and warrant that you are not a citizen, or otherwise located within, an embargoed nation and that you are not otherwise prohibited under the Export Laws from receiving the Graphical Documentation.
+
+5.5. No Agency. The parties are independent contractors and nothing in the T&Cs shall be construed as to create an agency, joint venture, partnership, or other form of business association between the parties.
+
+5.6. Survival. If the contents of individual provisions of the T&Cs are intended to survive the termination or expiration of the T&Cs, such provisions, including but not limited to provisions governing warranties and representations and the transfer of rights, title and interest to Universal Robots, shall to this extent remain in effect and be fully enforceable also after the termination or expiration of the T&Cs for whatever reason.
+
+
+6. TERM AND TERMINATION
+
+6.1. The T&Cs shall enter into force upon your receipt of, or you accessing, the Graphical Documentation and continue to be in force until terminated in accordance with this Section 6. The T&Cs shall automatically expire at such time as you are no longer permitted to use the Graphical Documentation in accordance with Section 1.
+
+6.2. You may terminate the T&Cs for convenience at any time by deleting all copies of the Graphical Documentation in your possession. Universal Robots may terminate the T&Cs for convenience by providing you with ninety (90) days’ notice.
+
+6.3. Universal Robots may terminate the T&Cs for cause with immediate effect in case of your material breach of the T&Cs.
+
+
+7. EFFECTS OF TERMINATION
+
+7.1. Upon expiration or termination of the T&Cs, for whatever reason, you must immediately cease use of the Graphical Documentation and delete all copies of the Graphical Documentation in your possession.
+
+8. GOVERNING LAW AND VENUE
+
+8.1. The T&Cs shall be governed by and construed in accordance with the laws of Denmark, without giving effect to conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods.
+
+8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction.
+
+
+* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement.
+
+The model files we obtained from the previously mentioned source underwent
+significant modifications before we could use them. These modifications
+included changes to the meshes and the URDF file itself by dex-urdf authors.
diff --git a/arms/ur10e/meshes/collision/base.obj b/arms/ur10e/meshes/collision/base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cdf65cb8fd35f1a5fc1f2e5b6f1a20d2104bddb
--- /dev/null
+++ b/arms/ur10e/meshes/collision/base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/collision/forearm.obj b/arms/ur10e/meshes/collision/forearm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a99404aa304c02b94034a81f67935b8c7a6a544f
--- /dev/null
+++ b/arms/ur10e/meshes/collision/forearm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/collision/shoulder.obj b/arms/ur10e/meshes/collision/shoulder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41bf0022fd7630fe3062da2982c978deeee508d4
--- /dev/null
+++ b/arms/ur10e/meshes/collision/shoulder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/collision/upperarm.obj b/arms/ur10e/meshes/collision/upperarm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd36f4ca81e114c93136df5cac82e78fce712b65
--- /dev/null
+++ b/arms/ur10e/meshes/collision/upperarm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:288ec0a42f142611483cb8e609f586b8236007420c0d7af3b29d254638694eed
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diff --git a/arms/ur10e/meshes/collision/wrist1.obj b/arms/ur10e/meshes/collision/wrist1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d0a8d93bfc6947f31fd00f2f5dbf62a038e8c8
--- /dev/null
+++ b/arms/ur10e/meshes/collision/wrist1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/collision/wrist2.obj b/arms/ur10e/meshes/collision/wrist2.obj
new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/collision/wrist2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/collision/wrist3.obj b/arms/ur10e/meshes/collision/wrist3.obj
new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/collision/wrist3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/visual/base.mtl b/arms/ur10e/meshes/visual/base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1c9a122beae019cf5ee6e99e209523d7ddc7143a
--- /dev/null
+++ b/arms/ur10e/meshes/visual/base.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.007
+Ns 250.000000
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diff --git a/arms/ur10e/meshes/visual/base.obj b/arms/ur10e/meshes/visual/base.obj
new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/base.obj
@@ -0,0 +1,3 @@
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diff --git a/arms/ur10e/meshes/visual/forearm.glb b/arms/ur10e/meshes/visual/forearm.glb
new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/forearm.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/ur10e/meshes/visual/forearm.mtl b/arms/ur10e/meshes/visual/forearm.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c805ba319ffff186c800e816c8816276641481ac
--- /dev/null
+++ b/arms/ur10e/meshes/visual/forearm.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.008
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+newmtl URBlue.006
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diff --git a/arms/ur10e/meshes/visual/forearm.obj b/arms/ur10e/meshes/visual/forearm.obj
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index 0000000000000000000000000000000000000000..4736d5740668f6045212955b744bfc3c6dbbefca
--- /dev/null
+++ b/arms/ur10e/meshes/visual/forearm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3703865d5f0a67459064496a46f676646e99c0470666fabf2dee2cdcbe46494a
+size 2775300
diff --git a/arms/ur10e/meshes/visual/shoulder.glb b/arms/ur10e/meshes/visual/shoulder.glb
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index 0000000000000000000000000000000000000000..82ef58d6503cc9a06aecd7e68e1c1163f262b141
--- /dev/null
+++ b/arms/ur10e/meshes/visual/shoulder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4af2e58465d4019de71c5394a3ca2f548ca5a72141bc68572effe7234c6e4e0
+size 2332648
diff --git a/arms/ur10e/meshes/visual/shoulder.mtl b/arms/ur10e/meshes/visual/shoulder.mtl
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index 0000000000000000000000000000000000000000..a8c62f6c1c05fe00750f4f03ebc2e529d630225c
--- /dev/null
+++ b/arms/ur10e/meshes/visual/shoulder.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.009
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
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+newmtl JointGrey.009
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+newmtl URBlue.007
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diff --git a/arms/ur10e/meshes/visual/shoulder.obj b/arms/ur10e/meshes/visual/shoulder.obj
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/shoulder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ca2da44bb109f9cc59a2368e3893d7d9d848abd23e1f9af8a3d491b91c3fa0
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index 0000000000000000000000000000000000000000..9fa0ea7d1d780a8706da8642474da626149908b6
--- /dev/null
+++ b/arms/ur10e/meshes/visual/upperarm.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d13dddbfaf63a91d35da34a01ca0d2b9f4ff427d166a011ded95547ece4a811
+size 3186448
diff --git a/arms/ur10e/meshes/visual/upperarm.mtl b/arms/ur10e/meshes/visual/upperarm.mtl
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/upperarm.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.010
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
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+illum 2
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+newmtl JointGrey.010
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+newmtl LinkGrey.005
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+newmtl URBlue.008
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diff --git a/arms/ur10e/meshes/visual/upperarm.obj b/arms/ur10e/meshes/visual/upperarm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b58d46ae8cee2d8d56a1175f748df23a78e99b9
--- /dev/null
+++ b/arms/ur10e/meshes/visual/upperarm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f0e2e96c57ed46b9158c8dd8739413dac9574708baa6a906d60035a2252082
+size 6360534
diff --git a/arms/ur10e/meshes/visual/wrist1.glb b/arms/ur10e/meshes/visual/wrist1.glb
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index 0000000000000000000000000000000000000000..9b632757133d202ff960f17feef89c8b5cd2ba7e
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79dcf607e45b4eae95fb7f89607e7b7811b4fd78eb61828a577a2044aeb7291
+size 1246364
diff --git a/arms/ur10e/meshes/visual/wrist1.mtl b/arms/ur10e/meshes/visual/wrist1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..49d9037ff4ad1df9ba0f769709eb89729a043b39
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist1.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.011
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
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diff --git a/arms/ur10e/meshes/visual/wrist1.obj b/arms/ur10e/meshes/visual/wrist1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02dead0d22887894cdf1a69b0f02a8f368c07b74
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:107afa5700ef9b221327a71f8e2889063541242ea733454cc7985cc1e8672828
+size 2475024
diff --git a/arms/ur10e/meshes/visual/wrist2.glb b/arms/ur10e/meshes/visual/wrist2.glb
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index 0000000000000000000000000000000000000000..d51614379774838b3ecbaccdd3a35dca826da4a1
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60bf142fe6f6f20455cf32014cb86e883cad2218a2d15ab1bead8215c02449e
+size 1429792
diff --git a/arms/ur10e/meshes/visual/wrist2.mtl b/arms/ur10e/meshes/visual/wrist2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a5d8984aafaecd4f8f24f9e5e08b05067083022a
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist2.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl Black.012
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
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+illum 2
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+newmtl JointGrey.012
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+newmtl URBlue.010
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diff --git a/arms/ur10e/meshes/visual/wrist2.obj b/arms/ur10e/meshes/visual/wrist2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f13abcfa1019930f04cf5afcd7ee2856503ae5c
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6003782cd410df8fdccd753dd4983f891e2f76048a37ccf2875c61215e70dcf
+size 2838684
diff --git a/arms/ur10e/meshes/visual/wrist3.glb b/arms/ur10e/meshes/visual/wrist3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60d65dbce1d2f74de7bf1613dc5eb97cdb51cf61
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f9e146d2c55f53bf183c61ec6c7740ca99fa281fb661e30c72c86337799f5a9
+size 72316
diff --git a/arms/ur10e/meshes/visual/wrist3.mtl b/arms/ur10e/meshes/visual/wrist3.mtl
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index 0000000000000000000000000000000000000000..a862d51e39dbfd29ccb0a4fa8baf9f0c7c8ebde2
--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist3.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl LinkGrey.006
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.820392 0.820392 0.820392
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diff --git a/arms/ur10e/meshes/visual/wrist3.obj b/arms/ur10e/meshes/visual/wrist3.obj
new file mode 100644
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--- /dev/null
+++ b/arms/ur10e/meshes/visual/wrist3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f970c7391a95fa9872d38ab97f708f4d4968c3a4934b09af790a98f2435ff839
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diff --git a/arms/ur10e/ur10e.urdf b/arms/ur10e/ur10e.urdf
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diff --git a/arms/ur10e/ur10e_glb.urdf b/arms/ur10e/ur10e_glb.urdf
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diff --git a/arms/ur5e/LICENSE b/arms/ur5e/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..f8bc3fa0413d5248b010667cdfebe5c023beb0f3
--- /dev/null
+++ b/arms/ur5e/LICENSE
@@ -0,0 +1,88 @@
+TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION
+
+Version: 1.01 / release date: 2023-09-12
+
+These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. The T&Cs constitute a binding agreement between you and Universal Robots. By accessing, storing, copying, sharing, opening, or otherwise using or disposing of the Graphical Documentation, you acknowledge that you are bound by the T&Cs.
+
+1. PERMITTED USE OF THE GRAPHICAL DOCUMENTATION
+
+1.1. You may use the Graphical Documentation for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products, provided that your use does not constitute comparative advertising and is not otherwise unfair, disloyal, or disparaging to Universal Robots.
+
+1.2. Hobbyists, students and/or researchers are allowed to use the Graphical Documentation to create models or similar solely for non-commercial purposes as part of their hobby, academic studies, or research. However, no one is allowed to use the Graphical Documentation to create a physical model or similar for commercial purposes, nor to create or improve a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future robots.
+
+1.3. You are permitted to create a product or solution that simulates, visualizes, or digitally represents a Universal Robots product, regardless of the origin of the underlying software, and regardless of whether Universal Robots or its affiliates have released a product that competes with the underlying software. However, you may not in any way use the Graphical Documentation to create a product or solution that simulates, visualizes or represents a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future products without Universal Robots’ prior written permission.
+
+1.4. You may share the Graphical Documentation or any whole or partial copies thereof with a third party (i) if and to the extent it is necessary for you to do so in order for you to engage in use permitted pursuant to this Section 1, and (ii) you provide the recipient with a copy of the T&Cs. However, you may only make the Graphical Documentation or any whole or partial copies thereof available to the public via download if it is part of a downloadable software package that includes a copy of the T&Cs. If you download a software package that includes the Graphical Documentation, your use of the Graphical Documentation will be subject to and governed by the latest version of the T&Cs, which can be found here: https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt , regardless of whether they are included in the software package or not.
+
+1.4.1. You are not allowed to alter, obscure, remove or replace any copyright or other legal notices, trademarks, business names and/or logos embedded in, superimposed on, affixed to, or otherwise included in, the Graphical Documentation without Universal Robots’ prior written permission.
+
+1.4.2. You may show the Graphical Documentation in whole or in part to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, provided that you display any copyright notice already contained in the Graphical Documentation, cf. also Section 1.4.1.
+
+1.4.3. You may show graphical representations of Universal Robots’ products based on the Graphical Documentation to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, if you, to the extent possible, display the following copyright notice in connection with such use: “© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation.” If the medium that you use limits or does not support the possibility of displaying the copyright notice, you may in good faith disregard this requirement.
+
+1.5. You may under no circumstances use the Graphical Documentation for planning, construction, maintenance, operation, or use, directly or indirectly, in nuclear power plants, missile technology, chemical or biological weapons applications or flight, navigation, or communication of aircraft or ground support equipment.
+
+1.6. Any use of the Graphical Documentation that is not expressly permitted pursuant to this Section 1 constitutes a material breach of the T&Cs.
+
+1.7. If your intended use of the Graphical Documentation is not permitted pursuant to the T&Cs, you may contact Universal Robots via email at legal@universal-robots.com and request a special permission to engage in your particular intended use.
+
+
+2. INTELLECTUAL PROPERTY RIGHTS
+
+2.1. You acknowledge and agree that the Graphical Documentation and all intellectual property rights contained and/or embodied therein, including, but not limited to, rights under the Danish Marketing Practices Act or under similar rules of law, patents, utility models, copyrights and related rights, software, trademarks, semiconductors, designs, know-how, rights in databases, trade secrets, and all applications or pending applications for such in all cases, whether or not registrable in any country, and all rights and forms of protection of a similar nature or having equivalent or similar effect anywhere in the world, shall be and remain the sole property of Universal Robots. Nothing in the T&Cs shall be construed as granting you any license to such rights, including, without limitation, any licenses to use Universal Robots’ trademarks, patents, or designs, except as strictly necessary in order for you to engage in the use permitted pursuant to Section 1.
+
+2.2. If you create any derivative works based on the Graphical Documentation, Universal Robots shall own the intellectual property rights in and to such derivative works. The foregoing notwithstanding, you may use such derivative works in connection with your use of the Graphical Documentation in accordance with Section 1.
+
+
+3. NO WARRANTIES, LIMITATIONS OF LIABILITY
+
+3.1. THE GRAPHICAL DOCUMENTATION IS PROVIDED ON AN “AS IS” BASIS AND UNIVERSAL ROBOTS MAKES NO WARRANTY OF ANY KIND WITH RESPECT TO THE GRAPHICAL DOCUMENTATION AND WE HEREBY EXPRESSLY EXCLUDE ANY WARRANTIES WITH RESPECT THERETO, WHETHER EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, NONINFRINGEMENT, ACCURACY OR ANY OTHER WARRANTIES OR GUARANTEES THAT MAY ARISE FROM COURSE OF DEALING, USAGE, OR TRADE PRACTICE. NEITHER UNIVERSAL ROBOTS NOR ITS SUPPLIERS, INCLUDING – WITHOUT LIMITATION – ITS LICENSORS, MAKE ANY REPRESENTATION, WARRANTY, OR OTHER COMMITMENT REGARDING (1) THE USE OR INABILITY TO USE THE GRAPHICAL DOCUMENTATION; OR (2) ANY RESULTS OF SUCH USE IN TERMS OF CORRECTNESS, ACCURACY, OR RELIABILITY. YOU UNDERSTAND AND AGREE THAT YOU ASSUME THE ENTIRE RISK AS TO YOUR USE OF THE GRAPHICAL DOCUMENTATION.
+
+3.2. TO THE EXTENT PERMITTED BY LAW, IN NO EVENT WILL UNIVERSAL ROBOTS BE LIABLE FOR ANY LOSSES OR DAMAGES INCURRED BY YOU, WHETHER DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY OR CONSEQUENTIAL, INCLUDING LOST OR ANTICIPATED PROFITS, SAVINGS, INTERRUPTION TO BUSINESS, LOSS OF BUSINESS OPPORTUNITIES, LOSS OF BUSINESS INFORMATION OR OTHER DATA, THE COST OF RECOVERING SUCH LOST INFORMATION OR DATA, THE COST OF SUBSTITUTE INTELLECTUAL PROPERTY OR ANY OTHER PECUNIARY LOSS ARISING FROM THE USE OF, OR THE INABILITY TO USE, THE GRAPHICAL DOCUMENTATION REGARDLESS OF WHETHER UNIVERSAL ROBOTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. THE FOREGOING LIMITATIONS APPLY REGARDLESS OF THE CAUSE OR CIRCUMSTANCES GIVING RISE TO SUCH LOSS, DAMAGE OR LIABILITY, EVEN IF SUCH LOSS, DAMAGE OR LIABILITY IS BASED ON NEGLIGENCE OR OTHER TORTS OR BREACH OF CONTRACT.
+
+
+4. INDEMNIFICATION
+
+4.1. You shall defend, indemnify, and hold Universal Robots and its affiliates, employees, and agents harmless, from and against all sums, claims, costs, duties, liabilities, losses, obligations, suits, actions, damages, penalties, awards, fines, interest, and other expenses (including investigation expenses and attorneys’ fees) that Universal Robots may incur or be obligated to pay as a result of your unauthorized use, modification, resale, transfer, shipment, or export of the Graphical Documentation.
+
+
+5. MISCELLANEOUS
+
+5.1. Entire Agreement. Except as otherwise explicitly provided for herein, the T&Cs constitute the entire agreement and supersedes all prior negotiations, promises, understandings, and agreements between the parties with respect to the subject matter hereof.
+
+5.2. Changes to the T&Cs. Universal Robots reserves the right, in its sole and absolute discretion, to change the terms of the T&Cs by providing you with ninety (90) days’ notice.
+
+5.3. Obligations on Legal Successors. The parties undertake to impose the obligations under the T&Cs on their statutory or contractual legal successors, if any.
+
+5.4. Export Laws. You agree to comply with all applicable laws and regulations, including export laws of the United States and any other applicable country or jurisdiction. You agree that the Graphical Documentation will not be shipped, transferred, or exported into any country or used in any manner prohibited by the United States Export Administration Act or any other country’s export laws, restrictions, or regulations (collectively the “Export Laws”). In addition, if the Graphical Documentation are identified as export controlled items under the Export Laws, you represent and warrant that you are not a citizen, or otherwise located within, an embargoed nation and that you are not otherwise prohibited under the Export Laws from receiving the Graphical Documentation.
+
+5.5. No Agency. The parties are independent contractors and nothing in the T&Cs shall be construed as to create an agency, joint venture, partnership, or other form of business association between the parties.
+
+5.6. Survival. If the contents of individual provisions of the T&Cs are intended to survive the termination or expiration of the T&Cs, such provisions, including but not limited to provisions governing warranties and representations and the transfer of rights, title and interest to Universal Robots, shall to this extent remain in effect and be fully enforceable also after the termination or expiration of the T&Cs for whatever reason.
+
+
+6. TERM AND TERMINATION
+
+6.1. The T&Cs shall enter into force upon your receipt of, or you accessing, the Graphical Documentation and continue to be in force until terminated in accordance with this Section 6. The T&Cs shall automatically expire at such time as you are no longer permitted to use the Graphical Documentation in accordance with Section 1.
+
+6.2. You may terminate the T&Cs for convenience at any time by deleting all copies of the Graphical Documentation in your possession. Universal Robots may terminate the T&Cs for convenience by providing you with ninety (90) days’ notice.
+
+6.3. Universal Robots may terminate the T&Cs for cause with immediate effect in case of your material breach of the T&Cs.
+
+
+7. EFFECTS OF TERMINATION
+
+7.1. Upon expiration or termination of the T&Cs, for whatever reason, you must immediately cease use of the Graphical Documentation and delete all copies of the Graphical Documentation in your possession.
+
+8. GOVERNING LAW AND VENUE
+
+8.1. The T&Cs shall be governed by and construed in accordance with the laws of Denmark, without giving effect to conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods.
+
+8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction.
+
+
+* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement.
+
+The model files we obtained from the previously mentioned source underwent
+significant modifications before we could use them. These modifications
+included changes to the meshes and the URDF file itself by dex-urdf authors.
diff --git a/arms/ur5e/meshes/collision/base.obj b/arms/ur5e/meshes/collision/base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4198604481203c409da79c971d4aafa0913e1f7c
--- /dev/null
+++ b/arms/ur5e/meshes/collision/base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226372cf042a809a521433187e88fcbb51f3d59b2730bc370fcef25c2194faa9
+size 19832
diff --git a/arms/ur5e/meshes/collision/forearm.obj b/arms/ur5e/meshes/collision/forearm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc727b1c9c82c25be6942beccc1e7fd35a7a165
--- /dev/null
+++ b/arms/ur5e/meshes/collision/forearm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f609114b617d718b68c9432cce5424d3ae9d389c7e62c247b52f6cfe6ac1c737
+size 49961
diff --git a/arms/ur5e/meshes/collision/shoulder.obj b/arms/ur5e/meshes/collision/shoulder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6830313a5fed3da0d40b4c697a240625622312df
--- /dev/null
+++ b/arms/ur5e/meshes/collision/shoulder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff033b288bf74b41d17d93b178d3c5798d31b45f6c8ba9982a49c1789e3a4217
+size 66839
diff --git a/arms/ur5e/meshes/collision/upperarm.obj b/arms/ur5e/meshes/collision/upperarm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b7cfe16d44ffcffd169fffe45de0222e4197c25
--- /dev/null
+++ b/arms/ur5e/meshes/collision/upperarm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fccb98bfe872a7d376f2b1fd7a109b00948a11e9459a992c3171007907ec4071
+size 95614
diff --git a/arms/ur5e/meshes/collision/wrist1.obj b/arms/ur5e/meshes/collision/wrist1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d3215fa5a64cc2475f88bc7e1bcac6aaea97b9d
--- /dev/null
+++ b/arms/ur5e/meshes/collision/wrist1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a67b41b4002cb72867b6d0a3cd3a13ac24e5c1b26174e6a957beeed2d76e6639
+size 55811
diff --git a/arms/ur5e/meshes/collision/wrist2.obj b/arms/ur5e/meshes/collision/wrist2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff4c4a5d17b6138a6ea0a3a4431df6b394ffe787
--- /dev/null
+++ b/arms/ur5e/meshes/collision/wrist2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9344fb0d69e82dc6886654863e523215157b1542ccca239e4c1ecce87dfe179a
+size 64835
diff --git a/arms/ur5e/meshes/collision/wrist3.obj b/arms/ur5e/meshes/collision/wrist3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37f3814120c6a49b7dfa7b83223595d3b0d26438
--- /dev/null
+++ b/arms/ur5e/meshes/collision/wrist3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42f6617a74db63841cbba88b5dd5c9dc5d7335890d0c6812588cfb79448b217
+size 6308
diff --git a/arms/ur5e/meshes/visual/base.glb b/arms/ur5e/meshes/visual/base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..85213e725dbad9408c3ed56f5b1a676a427dcafa
--- /dev/null
+++ b/arms/ur5e/meshes/visual/base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67ffb4c5c919a4708ad4cfa391f98d461b63efedebee6f6c61f69e88b55aeb24
+size 368124
diff --git a/arms/ur5e/meshes/visual/base.mtl b/arms/ur5e/meshes/visual/base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2978b6ce72c9782b87cdeeb6e1ca615e42e9acaa
--- /dev/null
+++ b/arms/ur5e/meshes/visual/base.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.023
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.015460 0.015460 0.015460
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl JointGrey.021
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.278431 0.278431 0.278431
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
diff --git a/arms/ur5e/meshes/visual/base.obj b/arms/ur5e/meshes/visual/base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e409f59dcd41ac473ee5ceec7fa963fead9903d9
--- /dev/null
+++ b/arms/ur5e/meshes/visual/base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e31581dd7dbd372989944801cad56e2f1ffd16501adad51359413427b563f2
+size 702457
diff --git a/arms/ur5e/meshes/visual/forearm.glb b/arms/ur5e/meshes/visual/forearm.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6b2af66f6ae5280bd81bc76fd9730c72b3a3417a
--- /dev/null
+++ b/arms/ur5e/meshes/visual/forearm.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09b85eaed57b76a824f25ab9fa4398c6b0f480b4f0633e0da40b6440a8c2f84f
+size 1155520
diff --git a/arms/ur5e/meshes/visual/forearm.mtl b/arms/ur5e/meshes/visual/forearm.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9e2aeaba4d01c72f186cf154802a50ba6165a16b
--- /dev/null
+++ b/arms/ur5e/meshes/visual/forearm.mtl
@@ -0,0 +1,62 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.029
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl Black.030
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl Black.032
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl JointGrey.027
+Ns 250.000000
+Ka 0.400000 0.400000 0.400000
+Kd 0.278431 0.278431 0.278431
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl LinkGrey.014
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.820392 0.820392 0.820392
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl URBlue.022
+Ns 1000.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.234549 0.423268 0.603828
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/arms/ur5e/meshes/visual/forearm.obj b/arms/ur5e/meshes/visual/forearm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..550433ebaff626f0788b51851a04fd50e416e7cd
--- /dev/null
+++ b/arms/ur5e/meshes/visual/forearm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb893b45aaaeeddf96657fbe448b01305038f61e6f030175e8010a4dafa76abe
+size 2196406
diff --git a/arms/ur5e/meshes/visual/shoulder.glb b/arms/ur5e/meshes/visual/shoulder.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7c84d8054ea933dc95a01f16ce22bb96971d547a
--- /dev/null
+++ b/arms/ur5e/meshes/visual/shoulder.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b588aa9474950f2a44d2ff24152f490bc986d46c8ad1050d642395387497ae2c
+size 1798352
diff --git a/arms/ur5e/meshes/visual/shoulder.mtl b/arms/ur5e/meshes/visual/shoulder.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a451217f55ff69e0027f239ca311566759c465f
--- /dev/null
+++ b/arms/ur5e/meshes/visual/shoulder.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.024
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl JointGrey.022
+Ns 250.000000
+Ka 0.400000 0.400000 0.400000
+Kd 0.278431 0.278431 0.278431
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl URBlue.017
+Ns 1000.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.234549 0.423268 0.603828
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/arms/ur5e/meshes/visual/shoulder.obj b/arms/ur5e/meshes/visual/shoulder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09d8ee76f50369cc698ebe2345dd4702f02885ab
--- /dev/null
+++ b/arms/ur5e/meshes/visual/shoulder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b073cc39e662f6f940446e26faf7c661433d2843c05d154ce7671ac7a5d4d6d
+size 3567630
diff --git a/arms/ur5e/meshes/visual/upperarm.glb b/arms/ur5e/meshes/visual/upperarm.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cc72a5ae7e6766125704f79923767330d76e3b3b
--- /dev/null
+++ b/arms/ur5e/meshes/visual/upperarm.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3afb095c8877e5f57b7088a69742433168cf5510f50b206f700de89a29cc8a90
+size 3100400
diff --git a/arms/ur5e/meshes/visual/upperarm.mtl b/arms/ur5e/meshes/visual/upperarm.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..943eb112ef218f924cfa7938c5dc05a5702e2f1e
--- /dev/null
+++ b/arms/ur5e/meshes/visual/upperarm.mtl
@@ -0,0 +1,42 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.026
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl JointGrey.024
+Ns 250.000000
+Ka 0.400000 0.400000 0.400000
+Kd 0.278431 0.278431 0.278431
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl LinkGrey.012
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.820392 0.820392 0.820392
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl URBlue.019
+Ns 1000.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.234549 0.423268 0.603828
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
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+d 1.000000
+illum 2
diff --git a/arms/ur5e/meshes/visual/upperarm.obj b/arms/ur5e/meshes/visual/upperarm.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f14ec4161025ad6ae2e7a59cce142972713b9d8
--- /dev/null
+++ b/arms/ur5e/meshes/visual/upperarm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4011fc249a7dace1d3d419781a062916d30c9bdc00aab803f62154e69b8937e
+size 6179552
diff --git a/arms/ur5e/meshes/visual/wrist1.glb b/arms/ur5e/meshes/visual/wrist1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1178b5b08fa9d2a045e767d1b3df96c7ac5c431e
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15aed8e46251b419914bbcd33077354ea2db49b79f9a85bd30043a906b407e0c
+size 1326428
diff --git a/arms/ur5e/meshes/visual/wrist1.mtl b/arms/ur5e/meshes/visual/wrist1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1777fb585e18f7bc9c22a268282627787beed809
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist1.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.027
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
+
+newmtl JointGrey.025
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+Ka 0.400000 0.400000 0.400000
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+Ks 0.500000 0.500000 0.500000
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+d 1.000000
+illum 3
+
+newmtl URBlue.020
+Ns 1000.000000
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+Kd 0.234549 0.423268 0.603828
+Ks 0.500000 0.500000 0.500000
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diff --git a/arms/ur5e/meshes/visual/wrist1.obj b/arms/ur5e/meshes/visual/wrist1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..78dff4e31051475b6b89d93be1742e95ac1b3cba
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aacdf7bede92652a2d314139904a4543327e629509bc27dcf7c9ff0f9634cc8
+size 2634492
diff --git a/arms/ur5e/meshes/visual/wrist2.glb b/arms/ur5e/meshes/visual/wrist2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b9d08e64463dbfbdb4ed4738d2272accfd56ca21
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:729d2be79132e13597a75102ee16478ba901d6fdad283734ce0f03f4918a4ec5
+size 1550924
diff --git a/arms/ur5e/meshes/visual/wrist2.mtl b/arms/ur5e/meshes/visual/wrist2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..244e92a154d36d38225c89d97f77afc307f71dbd
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist2.mtl
@@ -0,0 +1,32 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl Black.028
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.033102 0.033102 0.033102
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
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+d 1.000000
+illum 2
+
+newmtl JointGrey.026
+Ns 250.000000
+Ka 0.400000 0.400000 0.400000
+Kd 0.278431 0.278431 0.278431
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3
+
+newmtl URBlue.021
+Ns 1000.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.234549 0.423268 0.603828
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
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diff --git a/arms/ur5e/meshes/visual/wrist2.obj b/arms/ur5e/meshes/visual/wrist2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2fc56a2fa70b52b19d10cac4cfa4da13f2bcb95
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27bef3817a51f5dc02621859296aeb9b4660ecf977d0e835442aa168d815a37a
+size 3084441
diff --git a/arms/ur5e/meshes/visual/wrist3.glb b/arms/ur5e/meshes/visual/wrist3.glb
new file mode 100644
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--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1a2e1e9ab806f6d03cb7ba0c17c1f3781f5aa33b92ec196ced76b8127b4926e
+size 66464
diff --git a/arms/ur5e/meshes/visual/wrist3.mtl b/arms/ur5e/meshes/visual/wrist3.mtl
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index 0000000000000000000000000000000000000000..fb51f7ab7f4576157e7666e35aa5952deb19e7f4
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist3.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'ur5e.blend'
+# www.blender.org
+
+newmtl LinkGrey.013
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.820392 0.820392 0.820392
+Ks 0.500000 0.500000 0.500000
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diff --git a/arms/ur5e/meshes/visual/wrist3.obj b/arms/ur5e/meshes/visual/wrist3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d75f5e4f335e82de8043d963aede06fe62751ecb
--- /dev/null
+++ b/arms/ur5e/meshes/visual/wrist3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5aee5055e6ecc44b8eac32c00a920b3fe6a8194e6cd818afed04267f3299799
+size 121228
diff --git a/arms/ur5e/ur5e.urdf b/arms/ur5e/ur5e.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3ec8a5394e67005888f534264210a08e5ba93eab
--- /dev/null
+++ b/arms/ur5e/ur5e.urdf
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diff --git a/arms/ur5e/ur5e_glb.urdf b/arms/ur5e/ur5e_glb.urdf
new file mode 100644
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diff --git a/arms/xarm7/meshes/collision/link1.obj b/arms/xarm7/meshes/collision/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a6dd22e5ecc9e0845385f00aa68437626b9c3b
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ed8b4dd7f52aa7b6adb2401fa4b5180aa00de992a8e9855c779bc710360425d
+size 116072
diff --git a/arms/xarm7/meshes/collision/link2.obj b/arms/xarm7/meshes/collision/link2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..919bec4db51dd4750f0b41b95db7bb4e2ca45bf6
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 168124
diff --git a/arms/xarm7/meshes/collision/link3.obj b/arms/xarm7/meshes/collision/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb31dba109f8b6bf6e2fcb7ba7b5a6b9b1567628
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d0f65320d3e5771951f8a6c6720898681a06b71e1007ce124b0035d3fcec8f
+size 151783
diff --git a/arms/xarm7/meshes/collision/link4.obj b/arms/xarm7/meshes/collision/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af07ca80415a0335c8db239f9a78fb460f630e3a
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01f8d5f9f9d5263c3147cb741f95ac9643b8e25e8975daae012f1cd816453359
+size 101962
diff --git a/arms/xarm7/meshes/collision/link5.obj b/arms/xarm7/meshes/collision/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e7e77761d8165ea8e031a607fbf45f4fe396b38b
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 116129
diff --git a/arms/xarm7/meshes/collision/link6.obj b/arms/xarm7/meshes/collision/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..09cb27e6ebad04ee3e2a7dc653b1e1c2e9f1cfad
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 148638
diff --git a/arms/xarm7/meshes/collision/link7.obj b/arms/xarm7/meshes/collision/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fae2a76b1b21a9e33a8caae0353d211ad42480d1
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58a9e2dfc4a1a4441cc616db0e32abcbcb9fd189829264e94373ed0eaf682f10
+size 18058
diff --git a/arms/xarm7/meshes/collision/link_base.obj b/arms/xarm7/meshes/collision/link_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..502ad9607cd5fdd25ccfa878f2bc8b245b2af587
--- /dev/null
+++ b/arms/xarm7/meshes/collision/link_base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/arms/xarm7/meshes/visual/link1.glb b/arms/xarm7/meshes/visual/link1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cdbe3816d0adb043ff3d6f586638805a8cf65ab3
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacc86a7715434ea829df2b769c74897fae02621dfb3cfc1dd091e7fb09ec867
+size 285308
diff --git a/arms/xarm7/meshes/visual/link1.mtl b/arms/xarm7/meshes/visual/link1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..23ca53d342152ead68ba1c00e84c577a0a60c739
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link1.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.006
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+
+newmtl White.005
+Ns 250.000000
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diff --git a/arms/xarm7/meshes/visual/link1.obj b/arms/xarm7/meshes/visual/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c0393c844ba1b8549384a1d2fd307fbce45f4f18
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ab93159d892b19742e1335ecf3b1f252c6ac4aef197acead87ae2d92a98f83
+size 534531
diff --git a/arms/xarm7/meshes/visual/link2.glb b/arms/xarm7/meshes/visual/link2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d470dd8ff6e2f5991e186201fa26a3f63c8b1985
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05008cb4969ec3bfe74b1590b01996787674ff1061397e95db21a7e67a017641
+size 353388
diff --git a/arms/xarm7/meshes/visual/link2.mtl b/arms/xarm7/meshes/visual/link2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..646d6e17d76c97d4ea76420b11000f6d794262cd
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link2.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.004
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+newmtl White.003
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diff --git a/arms/xarm7/meshes/visual/link2.obj b/arms/xarm7/meshes/visual/link2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4c93029726500c4a310d18921a2cdd84bb506a02
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e20fddb264019440a4cb6ade29299fe4faa119664a41478d29dddf0f4105b45
+size 669635
diff --git a/arms/xarm7/meshes/visual/link3.glb b/arms/xarm7/meshes/visual/link3.glb
new file mode 100644
index 0000000000000000000000000000000000000000..039326e3d8a6dde0caf5ff7dab25397d8986c1a7
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07bb8fc6ac49a49afed17489764e5ecb37dd262b1237945ee4b9094b74b68a07
+size 371424
diff --git a/arms/xarm7/meshes/visual/link3.mtl b/arms/xarm7/meshes/visual/link3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..64171bd53d806b39db71e8dc3d92bd7aa4dc48a0
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link3.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.005
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+
+newmtl White.004
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diff --git a/arms/xarm7/meshes/visual/link3.obj b/arms/xarm7/meshes/visual/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79d9df7b7aa2660e173bbfe0ee98dc3b87145012
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87093aa7c3dfd01cf6dcb6b3eb8182af58afa4dcb10ec79907b00861c18ce1db
+size 704022
diff --git a/arms/xarm7/meshes/visual/link4.glb b/arms/xarm7/meshes/visual/link4.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1c96377e86968c27e2eac3ee5350f96b7122c81f
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link4.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad096114f1f305f39a8ff8a2aed73050e2da708904ae5d957f7ca76fe5798106
+size 381572
diff --git a/arms/xarm7/meshes/visual/link4.mtl b/arms/xarm7/meshes/visual/link4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..76800084990d8bd05530532f80668a8da1295e52
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link4.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.003
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+
+newmtl White.002
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+Kd 1.000000 1.000000 1.000000
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diff --git a/arms/xarm7/meshes/visual/link4.obj b/arms/xarm7/meshes/visual/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dca74de45cc378086079d2a0565593b2862056d5
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23328ddfaa7c0b0f566402b830b48d551517ce4f904d4d61b3b927dfc0fa7cb1
+size 715935
diff --git a/arms/xarm7/meshes/visual/link5.glb b/arms/xarm7/meshes/visual/link5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..863e1932adfb560cf0720f904cbb8e692ec49f88
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da0e51debf30a99634dccc960f77d4253194ce2f748c2ab48ae5244ab02facf
+size 358824
diff --git a/arms/xarm7/meshes/visual/link5.mtl b/arms/xarm7/meshes/visual/link5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..92b557b589deeb55b7b1462b686bd3ab8cfffcbf
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link5.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.002
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+newmtl White.001
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diff --git a/arms/xarm7/meshes/visual/link5.obj b/arms/xarm7/meshes/visual/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb14e7784da5aeb690a94b9194378c81aa0cee14
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cba47f92045c39e0c72f4d95fa5184fd3a1c5f573de3990203f96698e298e8ad
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diff --git a/arms/xarm7/meshes/visual/link6.glb b/arms/xarm7/meshes/visual/link6.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60aa2e58f5a70692065f285ee2461a241f738bb9
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link6.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16612a56f22d286a7e7ff7df3731bb557652c7a83f8b56055d59d1ab83d9f188
+size 621744
diff --git a/arms/xarm7/meshes/visual/link6.mtl b/arms/xarm7/meshes/visual/link6.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b18051d6541b71e1af29fe9b32f7d87e53d59cfc
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link6.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver.001
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
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+newmtl White
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diff --git a/arms/xarm7/meshes/visual/link6.obj b/arms/xarm7/meshes/visual/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3a91b61f0ffc2cfe8f2bfe67765d0a2ea82fca5
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d8fd4abeaceb8bfa65d67aba06d490e2beec52832df94ef58b77574f80b1e9
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diff --git a/arms/xarm7/meshes/visual/link7.glb b/arms/xarm7/meshes/visual/link7.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5c195d9d6c4da0adf6a4fc95b9cee007e80b7443
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link7.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6996ad0023afdb45496e2dad384c814743d2fcf4ea49fbd2ccef1e969452636b
+size 336888
diff --git a/arms/xarm7/meshes/visual/link7.mtl b/arms/xarm7/meshes/visual/link7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ac82c2dfadfd100fcd126f326f63770527c5042f
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link7.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Silver
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
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diff --git a/arms/xarm7/meshes/visual/link7.obj b/arms/xarm7/meshes/visual/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e5dbc636cfec0b4c4392504fa22c70efc952275
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c1301ea1b579c988ecaed12f478d017d2a2dcb829ee2ef380fcc8aa34e3803
+size 573500
diff --git a/arms/xarm7/meshes/visual/link_base.glb b/arms/xarm7/meshes/visual/link_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c85e679a56bc7621662fe017c8948bcaf8358b0
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdccb694dd55ef68c8b120d14f464a56c911ff4a55397b43bc19313b6184356b
+size 467668
diff --git a/arms/xarm7/meshes/visual/link_base.mtl b/arms/xarm7/meshes/visual/link_base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0383fa61acea6466de1a68a28b3607a4eed72f40
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link_base.mtl
@@ -0,0 +1,22 @@
+# Blender 4.1.0 MTL File: 'None'
+# www.blender.org
+
+newmtl silver.003
+Ns 656.099976
+Ka 0.470000 0.470000 0.470000
+Kd 0.750000 0.750000 0.750000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
+
+newmtl white.003
+Ns 810.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/arms/xarm7/meshes/visual/link_base.obj b/arms/xarm7/meshes/visual/link_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c000a890810a8feae3cff573bec4ba9ec567b81
--- /dev/null
+++ b/arms/xarm7/meshes/visual/link_base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f4e4524d0e3c8eee589a1e724f3b54705899b9426194fbb272fdd24f5078ba
+size 665448
diff --git a/arms/xarm7/xarm7.urdf b/arms/xarm7/xarm7.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7ceb4034f15f4bcd28ab4cc8577dde00a9a75d92
--- /dev/null
+++ b/arms/xarm7/xarm7.urdf
@@ -0,0 +1,219 @@
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diff --git a/arms/xarm7/xarm7_glb.urdf b/arms/xarm7/xarm7_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..659aa8d217591effde4b0dd17a7c6d6ff66ac4c4
--- /dev/null
+++ b/arms/xarm7/xarm7_glb.urdf
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diff --git a/h1_inspire/.asset_hash b/h1_inspire/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..fd65385a60aea3fb10973be7ce9bb530b67ef14d
--- /dev/null
+++ b/h1_inspire/.asset_hash
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+45856094bd660eef9ef7e3d6172de591
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diff --git a/h1_inspire/H1_with_hand.usd b/h1_inspire/H1_with_hand.usd
new file mode 100644
index 0000000000000000000000000000000000000000..35703b90f9c5ba2e53ebf054d0bcc0e733afbc05
--- /dev/null
+++ b/h1_inspire/H1_with_hand.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d5f2956414675981f02caf008c41f5c22862b50dc58b61eff82316721d1ad4
+size 61411788
diff --git a/h1_inspire/config.yaml b/h1_inspire/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3b84c0245d11b51846dd411c08637fb7e74ac39a
--- /dev/null
+++ b/h1_inspire/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/tianxing/Luminis/assets/robots/h1_inspire/h1_with_hand.urdf
+usd_dir: /home/ubuntu/tianxing/Luminis/assets/robots/h1_inspire
+usd_file_name: h1_inspire.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: true
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-11-25 at 20:16:00.
+##
diff --git a/h1_inspire/configuration/h1_inspire_base.usd b/h1_inspire/configuration/h1_inspire_base.usd
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--- /dev/null
+++ b/h1_inspire/configuration/h1_inspire_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1165840ca405ca2f78c188ae4f474834c19789d1042407e25ebb01c10da189
+size 35704046
diff --git a/h1_inspire/configuration/h1_inspire_physics.usd b/h1_inspire/configuration/h1_inspire_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..28798dcdb80158026601a371af5b6d9c4148f08a
--- /dev/null
+++ b/h1_inspire/configuration/h1_inspire_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/h1_inspire/configuration/h1_inspire_robot.usd b/h1_inspire/configuration/h1_inspire_robot.usd
new file mode 100644
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--- /dev/null
+++ b/h1_inspire/configuration/h1_inspire_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d81216f4d89501547678ff0f343c01104de8830863224b660a5cdf27d591207
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diff --git a/h1_inspire/configuration/h1_inspire_sensor.usd b/h1_inspire/configuration/h1_inspire_sensor.usd
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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\ No newline at end of file
diff --git a/h1_inspire/human_config.yml b/h1_inspire/human_config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..38c4529f545f44c13a07f55140afa8fc0990778d
--- /dev/null
+++ b/h1_inspire/human_config.yml
@@ -0,0 +1,26 @@
+active_joints_name: ['left_shoulder_pitch_joint', 'right_shoulder_pitch_joint', 'left_shoulder_roll_joint', 'right_shoulder_roll_joint', 'left_shoulder_yaw_joint', 'right_shoulder_yaw_joint', 'left_elbow_joint', 'right_elbow_joint', 'left_hand_joint', 'right_hand_joint', 'L_index_proximal_joint', 'L_middle_proximal_joint', 'L_pinky_proximal_joint', 'L_ring_proximal_joint', 'L_thumb_proximal_yaw_joint', 'R_index_proximal_joint', 'R_middle_proximal_joint', 'R_pinky_proximal_joint', 'R_ring_proximal_joint', 'R_thumb_proximal_yaw_joint', 'L_index_intermediate_joint', 'L_middle_intermediate_joint', 'L_pinky_intermediate_joint', 'L_ring_intermediate_joint', 'L_thumb_proximal_pitch_joint', 'R_index_intermediate_joint', 'R_middle_intermediate_joint', 'R_pinky_intermediate_joint', 'R_ring_intermediate_joint', 'R_thumb_proximal_pitch_joint', 'L_thumb_intermediate_joint', 'R_thumb_intermediate_joint', 'L_thumb_distal_joint', 'R_thumb_distal_joint']
+
+data_joints_name: ['L_base_link_joint', 'L_index_intermediate_joint',
+ 'L_index_proximal_joint', 'L_middle_intermediate_joint',
+ 'L_middle_proximal_joint', 'L_pinky_intermediate_joint',
+ 'L_pinky_proximal_joint', 'L_ring_intermediate_joint',
+ 'L_ring_proximal_joint', 'L_thumb_distal_joint',
+ 'L_thumb_intermediate_joint', 'L_thumb_proximal_pitch_joint',
+ 'L_thumb_proximal_yaw_joint', 'R_base_link_joint',
+ 'R_index_intermediate_joint', 'R_index_proximal_joint',
+ 'R_middle_intermediate_joint', 'R_middle_proximal_joint',
+ 'R_pinky_intermediate_joint', 'R_pinky_proximal_joint',
+ 'R_ring_intermediate_joint', 'R_ring_proximal_joint',
+ 'R_thumb_distal_joint', 'R_thumb_intermediate_joint',
+ 'R_thumb_proximal_pitch_joint', 'R_thumb_proximal_yaw_joint',
+ 'd435_left_imager_joint', 'd435_rgb_module_joint',
+ 'left_ankle_joint', 'left_elbow_joint', 'left_hand_joint',
+ 'left_hip_pitch_joint', 'left_hip_roll_joint',
+ 'left_hip_yaw_joint', 'left_knee_joint',
+ 'left_shoulder_pitch_joint', 'left_shoulder_roll_joint',
+ 'left_shoulder_yaw_joint', 'logo_joint', 'mid360_joint',
+ 'right_ankle_joint', 'right_elbow_joint', 'right_hand_joint',
+ 'right_hip_pitch_joint', 'right_hip_roll_joint',
+ 'right_hip_yaw_joint', 'right_knee_joint',
+ 'right_shoulder_pitch_joint', 'right_shoulder_roll_joint',
+ 'right_shoulder_yaw_joint', 'torso_joint']
\ No newline at end of file
diff --git a/h1_inspire/meshes/L_hand_base_link.STL b/h1_inspire/meshes/L_hand_base_link.STL
new file mode 100644
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+oid sha256:0623a10ac8f6d7a0f5d8b974fa48af59da7f46d2440bed1e4161f385feb1883e
+size 39924
diff --git a/h1_inspire/meshes/visual/right_base_link.glb b/h1_inspire/meshes/visual/right_base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..243cdbb20cfde853b0ee26e050beee0ec49d3741
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4523c936818785318829a5ae64831994d7a85814e53d6461c0ee9212ca6750
+size 851444
diff --git a/h1_inspire/meshes/visual/right_index_intermediate.glb b/h1_inspire/meshes/visual/right_index_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e3f39bfc0bde128056002ba93586bef080cab
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_index_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f2041dd7674ba95d3fca88dbfdd721bf6f4c4b17d8ae56733ca040a6ee0584
+size 167248
diff --git a/h1_inspire/meshes/visual/right_index_proximal.glb b/h1_inspire/meshes/visual/right_index_proximal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12633481b6c7515fcd04ee0fe3427bc5017789fa
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_index_proximal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa989ff69ebf066dabef421ed9062d34a4588162aa1569c717a3262a99a031ba
+size 225860
diff --git a/h1_inspire/meshes/visual/right_middle_intermediate.glb b/h1_inspire/meshes/visual/right_middle_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f29490a92aa63e5c133858d7b8aef3cb87ba7a5
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_middle_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ae7d1525270ac4edef4f9ff1b98898e3943e39d3ccc4ab068831fd54349636
+size 146144
diff --git a/h1_inspire/meshes/visual/right_pinky_intermediate.glb b/h1_inspire/meshes/visual/right_pinky_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cd40cd60f942f760ddfd250d6b63d57aff7ff1bf
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_pinky_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b49449acc77fc66f78eaa2025e608b8eae94f22c1cc3e6b6663c960035675e3
+size 204908
diff --git a/h1_inspire/meshes/visual/right_thumb_distal.glb b/h1_inspire/meshes/visual/right_thumb_distal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c473816862a83548824818712174a65f75ece52
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_thumb_distal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4f5ac8fc524c0c70d06f98dd897307a0a340fa74091d3345c981d2a8f23cf8
+size 45788
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--- /dev/null
+++ b/h1_inspire/meshes/visual/right_thumb_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9df1f663633b73c918479c2b27bd7c586a90a7c9273f10b00e87030197c228
+size 88992
diff --git a/h1_inspire/meshes/visual/right_thumb_proximal.glb b/h1_inspire/meshes/visual/right_thumb_proximal.glb
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--- /dev/null
+++ b/h1_inspire/meshes/visual/right_thumb_proximal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b9fdd15bcea183e0f05fa261cb7da93ba4d905e7fa04906c7776c9d3975d5a
+size 45796
diff --git a/h1_inspire/meshes/visual/right_thumb_proximal_base.glb b/h1_inspire/meshes/visual/right_thumb_proximal_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1aeff223b8654eae1f28eedd5b3b3df0ca877a84
--- /dev/null
+++ b/h1_inspire/meshes/visual/right_thumb_proximal_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1143d3fc366a169e795be8003892f7e5d7cd5b7b322ac55b39089aca5c9f81
+size 40060
diff --git a/hands/.DS_Store b/hands/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..f42cb97aa293f1294a338d26b95b40416f8b0dc0
Binary files /dev/null and b/hands/.DS_Store differ
diff --git a/hands/ability_hand/LICENSE.txt b/hands/ability_hand/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7453b943a7acdbc6eb4971042215b001f9310a12
--- /dev/null
+++ b/hands/ability_hand/LICENSE.txt
@@ -0,0 +1,6 @@
+Copyright 2024
+
+The source model is from the urdf file provided on the inspire official GitHub repo: https://github.com/psyonicinc/ability-hand-api/tree/master/URDF
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/ability_hand/ability_hand_left.urdf b/hands/ability_hand/ability_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..41889e5c94bb065103834c566121ddc4ad8da7b8
--- /dev/null
+++ b/hands/ability_hand/ability_hand_left.urdf
@@ -0,0 +1,475 @@
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diff --git a/hands/ability_hand/ability_hand_left_glb.urdf b/hands/ability_hand/ability_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f885f05ad3a069828af738111427b167d438c5da
--- /dev/null
+++ b/hands/ability_hand/ability_hand_left_glb.urdf
@@ -0,0 +1,475 @@
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diff --git a/hands/ability_hand/ability_hand_right.urdf b/hands/ability_hand/ability_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..28ba84687f1d3fbeef2ec199c085764298f9b8c8
--- /dev/null
+++ b/hands/ability_hand/ability_hand_right.urdf
@@ -0,0 +1,475 @@
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diff --git a/hands/ability_hand/ability_hand_right_glb.urdf b/hands/ability_hand/ability_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2ede5cfaf0884d98ec7a2359c8f522b87f847984
--- /dev/null
+++ b/hands/ability_hand/ability_hand_right_glb.urdf
@@ -0,0 +1,475 @@
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new file mode 100644
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--- /dev/null
+++ b/hands/ability_hand/meshes/collision/FB_palm_ref.obj
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--- /dev/null
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--- /dev/null
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--- /dev/null
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diff --git a/hands/ability_hand/meshes/visual/FB_palm_ref.glb b/hands/ability_hand/meshes/visual/FB_palm_ref.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c93d020c1e4e85d7319db6c7f0b67a1ec526333a
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/ability_hand/meshes/visual/FB_palm_ref.mtl b/hands/ability_hand/meshes/visual/FB_palm_ref.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
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new file mode 100644
index 0000000000000000000000000000000000000000..12f6d4d8a3ea141748952bd39be203e6b606ac14
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1026040
diff --git a/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.glb b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8f6ec49acd252144d8aaae80ade245d3200f03ec
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 707156
diff --git a/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.mtl b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d893400bd7f72b47288a24f3956e75937d96d5c
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl palm_silver
+Ns 489.999983
+Ka 0.300000 0.300000 0.300000
+Kd 0.147027 0.165132 0.187821
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diff --git a/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.obj b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.obj
new file mode 100644
index 0000000000000000000000000000000000000000..328fd11a320b336343b7521a3be897eb1fa614a6
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/FB_palm_ref_MIR.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/idx-F1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/idx-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
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diff --git a/hands/ability_hand/meshes/visual/idx-F1.obj b/hands/ability_hand/meshes/visual/idx-F1.obj
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/idx-F1.obj
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/idx-F2.mtl
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+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
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--- /dev/null
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1-MIR.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/ability_hand/meshes/visual/thumb-F1-MIR.mtl b/hands/ability_hand/meshes/visual/thumb-F1-MIR.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1-MIR.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
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diff --git a/hands/ability_hand/meshes/visual/thumb-F1-MIR.obj b/hands/ability_hand/meshes/visual/thumb-F1-MIR.obj
new file mode 100644
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1-MIR.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/ability_hand/meshes/visual/thumb-F1.glb b/hands/ability_hand/meshes/visual/thumb-F1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..fcc84f46650c103d6ae48eb7f1dddd191d2a3797
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
+
+newmtl rubber_black
+Ns 39.999995
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new file mode 100644
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F1.obj
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+version https://git-lfs.github.com/spec/v1
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+size 6250
diff --git a/hands/ability_hand/meshes/visual/thumb-F2.glb b/hands/ability_hand/meshes/visual/thumb-F2.glb
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index 0000000000000000000000000000000000000000..749d93ab0f91cd62485a23da9cb2eba8d4569c29
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/ability_hand/meshes/visual/thumb-F2.mtl b/hands/ability_hand/meshes/visual/thumb-F2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7c662a470a2dbab76d8d99ecfab68d6ed90dbeeb
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
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+newmtl rubber_black
+Ns 39.999995
+Ka 0.600000 0.600000 0.600000
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diff --git a/hands/ability_hand/meshes/visual/thumb-F2.obj b/hands/ability_hand/meshes/visual/thumb-F2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ce9b165fe87573d575933b33944bbda782ac80e
--- /dev/null
+++ b/hands/ability_hand/meshes/visual/thumb-F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/ability_hand/meshes/visual/wristmesh.glb b/hands/ability_hand/meshes/visual/wristmesh.glb
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/wristmesh.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/wristmesh.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'color.blend'
+# Material Count: 1
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diff --git a/hands/ability_hand/meshes/visual/wristmesh.obj b/hands/ability_hand/meshes/visual/wristmesh.obj
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--- /dev/null
+++ b/hands/ability_hand/meshes/visual/wristmesh.obj
@@ -0,0 +1,3 @@
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diff --git a/hands/allegro_hand/LICENSE b/hands/allegro_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..eace2bc1b54225cc0e6636f8ed52a22d8ff5fb06
--- /dev/null
+++ b/hands/allegro_hand/LICENSE
@@ -0,0 +1,15 @@
+Copyright (c) 2016, SimLab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/allegro_hand/allegro_hand_left.urdf b/hands/allegro_hand/allegro_hand_left.urdf
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diff --git a/hands/allegro_hand/allegro_hand_left_glb.urdf b/hands/allegro_hand/allegro_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f3014d9cfbc5706d59494201e2a0983fec43ce00
--- /dev/null
+++ b/hands/allegro_hand/allegro_hand_left_glb.urdf
@@ -0,0 +1,543 @@
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diff --git a/hands/allegro_hand/allegro_hand_right.urdf b/hands/allegro_hand/allegro_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f72750180fbef7f4f5497dfbd4c1b6233991cd22
--- /dev/null
+++ b/hands/allegro_hand/allegro_hand_right.urdf
@@ -0,0 +1,542 @@
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diff --git a/hands/allegro_hand/allegro_hand_right_glb.urdf b/hands/allegro_hand/allegro_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b373521d94202b786559998b47cf7ae5dc00b1b6
--- /dev/null
+++ b/hands/allegro_hand/allegro_hand_right_glb.urdf
@@ -0,0 +1,542 @@
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diff --git a/hands/allegro_hand/meshes/collision/link_tip.obj b/hands/allegro_hand/meshes/collision/link_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0f5669284afaa7ae5127c710ec90fea8be1088
--- /dev/null
+++ b/hands/allegro_hand/meshes/collision/link_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd517fb6f1b4ccec9ef48501b2a41494d700fdf376f37aa6909afcee172e64f4
+size 67338
diff --git a/hands/allegro_hand/meshes/visual/base_link.glb b/hands/allegro_hand/meshes/visual/base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4d216e65f90299f74b2955d0b13785b19fd5cc8a
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b957aa87e9fe4aa0f58a5192ca4583b6d4c3584f0a51ee8cd99ad76261c8d8
+size 150276
diff --git a/hands/allegro_hand/meshes/visual/base_link.mtl b/hands/allegro_hand/meshes/visual/base_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
+Ns 639.999995
+Ka 0.500000 0.500000 0.500000
+Kd 0.004025 0.004025 0.004025
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/allegro_hand/meshes/visual/base_link.obj b/hands/allegro_hand/meshes/visual/base_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..459477c1bb96b3f953936bbcf92825cf023fab5a
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf8daf270ac7e427ee477515bfcbcee306958e8b2ea8a23ecb7a319c5c8690f
+size 195076
diff --git a/hands/allegro_hand/meshes/visual/base_link_left.glb b/hands/allegro_hand/meshes/visual/base_link_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c0df4c365264d36dc35ec2031188fca4140ffacd
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe83ed36849fac8a2b8cc0b346474ae4e6d0b94aa2d414528309d9cff0033f2b
+size 454240
diff --git a/hands/allegro_hand/meshes/visual/base_link_left.mtl b/hands/allegro_hand/meshes/visual/base_link_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link_left.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
+Ns 639.999995
+Ka 0.500000 0.500000 0.500000
+Kd 0.004025 0.004025 0.004025
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/allegro_hand/meshes/visual/base_link_left.obj b/hands/allegro_hand/meshes/visual/base_link_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..46cec440b8aa4b704ba5cf59ca98c92441cf4ed0
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/base_link_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbc01616cbd28d9c133a4ed6942ddf07e55ec84fa99a900c6b9bf6499d87ceca
+size 599153
diff --git a/hands/allegro_hand/meshes/visual/link_0.0.glb b/hands/allegro_hand/meshes/visual/link_0.0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e2915c8b250235e3434f97636ab84f2456bd682d
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_0.0.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efc9af7866efcfd61b51a19dec4454f88bf9c86787fba0f44f0ccb911cc364d
+size 51836
diff --git a/hands/allegro_hand/meshes/visual/link_0.0.mtl b/hands/allegro_hand/meshes/visual/link_0.0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_0.0.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
+Ns 639.999995
+Ka 0.500000 0.500000 0.500000
+Kd 0.004025 0.004025 0.004025
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/allegro_hand/meshes/visual/link_0.0.obj b/hands/allegro_hand/meshes/visual/link_0.0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f93d660d7744b5ca6a4dad5a4c2912ddc3d67b6d
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_0.0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ba6316f4fe17e740276b7f28864f53c0296a1d8b0072e98561be1c6f063732
+size 60750
diff --git a/hands/allegro_hand/meshes/visual/link_1.0.glb b/hands/allegro_hand/meshes/visual/link_1.0.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7a6649c9636ef850618c49d46828b9882ae98d24
--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_1.0.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_1.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+++ b/hands/allegro_hand/meshes/visual/link_1.0.obj
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_12.0_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_12.0_left.mtl
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+# Blender 3.6.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
+Ns 640.000000
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_12.0_left.obj
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_12.0_right.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/allegro_hand/meshes/visual/link_13.0.mtl b/hands/allegro_hand/meshes/visual/link_13.0.mtl
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--- /dev/null
+++ b/hands/allegro_hand/meshes/visual/link_13.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender MTL File: 'None'
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+newmtl black_metal
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender MTL File: 'None'
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+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender MTL File: 'None'
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+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+# Blender MTL File: 'None'
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+newmtl black_metal
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--- /dev/null
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diff --git a/hands/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf b/hands/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a0d291848011b81b9a18a33ed7d426816b045cb
--- /dev/null
+++ b/hands/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf
@@ -0,0 +1,840 @@
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diff --git a/hands/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf b/hands/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6f91c16779b90523312ae9d0ade61ccd9a14b46
--- /dev/null
+++ b/hands/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf
@@ -0,0 +1,829 @@
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diff --git a/hands/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf b/hands/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcfbe84f90cd7f0ca07a2cfa086cf335a83cc6c1
--- /dev/null
+++ b/hands/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf
@@ -0,0 +1,848 @@
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diff --git a/hands/allegro_hand/variation/meshes/collision/longer_finger_tip.obj b/hands/allegro_hand/variation/meshes/collision/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa2fb7cd97bbfeace9b407f1bcffdc0c817dad
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/collision/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9bcc85a90a9d63f4767ba4a3e931e67dedb952132e3605f9cbcc697a1dbb88
+size 102200
diff --git a/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.glb b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35f433ab879d38151c8988d521ddeb49cfc4dcfb
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99b74adc1b7b28a4fd90dcea4046016d8e9aefe27ec87e7e15159ad9ea42bd9
+size 166232
diff --git a/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b1b9d2fb3e93fcfcc59eaf69e41ada5b05f576d
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.obj b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b788af51dbf66218d65e39c6c8f6043e3dbe59
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bf44eaed5c647aa79c54b8a93192b29ce996d0b320dba6a207403f141c4a32
+size 320165
diff --git a/hands/allegro_hand/variation/meshes/visual/tactile.glb b/hands/allegro_hand/variation/meshes/visual/tactile.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60664080436f7c5c66aabb201ec34434fefd84cc
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/tactile.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1eff9d29d0f953084ec38e48054bf2f8ea085deafb29a74072fabf87cc6060f
+size 328600
diff --git a/hands/allegro_hand/variation/meshes/visual/tactile.mtl b/hands/allegro_hand/variation/meshes/visual/tactile.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cef6305ed00f267b801fe5bc86388de15d999a0f
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/tactile.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl RED_FRONT
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.807338 0.000430 0.002673
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl SILER_PART
+Ns 902.500000
+Ka 0.500000 0.500000 0.500000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/allegro_hand/variation/meshes/visual/tactile.obj b/hands/allegro_hand/variation/meshes/visual/tactile.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54072dd5873123576f90dd6c9db91239b59e7bbe
--- /dev/null
+++ b/hands/allegro_hand/variation/meshes/visual/tactile.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6112bda50cfa7478faae3df4767d5ed471c26b9bb6216550848578a8d9994d
+size 647838
diff --git a/hands/barrett_hand/LICENSE b/hands/barrett_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..dbf7c4aa4c95fc5371d982253aca13a5557d0f8e
--- /dev/null
+++ b/hands/barrett_hand/LICENSE
@@ -0,0 +1,15 @@
+Copyright (c) 2016, Barrett Technology
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/barrett_hand/bhand_model.urdf b/hands/barrett_hand/bhand_model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0b9c5d2ddc0a57b367a16413a0bf79b2996ee31e
--- /dev/null
+++ b/hands/barrett_hand/bhand_model.urdf
@@ -0,0 +1,367 @@
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diff --git a/hands/barrett_hand/bhand_model_glb.urdf b/hands/barrett_hand/bhand_model_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d8d82e0803d8163fc19e4727fd6a56a1003ecd02
--- /dev/null
+++ b/hands/barrett_hand/bhand_model_glb.urdf
@@ -0,0 +1,367 @@
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diff --git a/hands/barrett_hand/meshes/collision/base_link_cylinder.obj b/hands/barrett_hand/meshes/collision/base_link_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b33ecc372065553bbd3b867970411558865b564c
--- /dev/null
+++ b/hands/barrett_hand/meshes/collision/base_link_cylinder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49c5e25eaa9d308e0eecc3275d560670ed005029ba0f3f2a230a7b7640586ae2
+size 14991
diff --git a/hands/barrett_hand/meshes/collision/prox_link_cylinder.obj b/hands/barrett_hand/meshes/collision/prox_link_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a407522907295f18e89fc384c98f544fedf5aaac
--- /dev/null
+++ b/hands/barrett_hand/meshes/collision/prox_link_cylinder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf699a29e783c35f3eb095cec1d1ae1361e89139307f6aa78bd8b69e59b25c52
+size 7370
diff --git a/hands/barrett_hand/meshes/visual/base_link.glb b/hands/barrett_hand/meshes/visual/base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8c861f2ce5cc1545ae707757eac544e8473f5ebb
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf5a24b9beb12f80d6150be1d3997b151590e0cf2d427c875afa56bd1127c45
+size 470508
diff --git a/hands/barrett_hand/meshes/visual/base_link.mtl b/hands/barrett_hand/meshes/visual/base_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f798b055496090bb2af2d41043b49a78d9ec642
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/base_link.mtl
@@ -0,0 +1,22 @@
+# Blender 3.6.5 MTL File: 'mesh.blend'
+# www.blender.org
+
+newmtl purple_mat
+Ns 250.000000
+Ka 0.360000 0.360000 0.360000
+Kd 0.019382 0.005605 0.107023
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
+
+newmtl silver_metal
+Ns 639.999939
+Ka 0.200000 0.200000 0.200000
+Kd 0.341914 0.356400 0.381326
+Ks 0.660000 0.660000 0.660000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/barrett_hand/meshes/visual/base_link.obj b/hands/barrett_hand/meshes/visual/base_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf8c8288cd6a1504c6d90544d8a269967700d8d6
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e963f3f9570b1ec41c1084c5d5725994a4f5bc1a8be8c07fe3b333892bef66fa
+size 489745
diff --git a/hands/barrett_hand/meshes/visual/dist_link.glb b/hands/barrett_hand/meshes/visual/dist_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ba2b3e4912059144b64b3699a7ace6ad5e887793
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/dist_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023c444c1acec07c0eed03ef9e86c9e07c46b143fb224dd9fb29083948d3e287
+size 189552
diff --git a/hands/barrett_hand/meshes/visual/dist_link.mtl b/hands/barrett_hand/meshes/visual/dist_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6f798b055496090bb2af2d41043b49a78d9ec642
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/dist_link.mtl
@@ -0,0 +1,22 @@
+# Blender 3.6.5 MTL File: 'mesh.blend'
+# www.blender.org
+
+newmtl purple_mat
+Ns 250.000000
+Ka 0.360000 0.360000 0.360000
+Kd 0.019382 0.005605 0.107023
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
+
+newmtl silver_metal
+Ns 639.999939
+Ka 0.200000 0.200000 0.200000
+Kd 0.341914 0.356400 0.381326
+Ks 0.660000 0.660000 0.660000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/barrett_hand/meshes/visual/dist_link.obj b/hands/barrett_hand/meshes/visual/dist_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6cd13ebff6e9dcce7983aa240063a19576599fc
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/dist_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de4ace9a09910bc42578c456871f48df7e2916ce6cc2fef3cfeb918f1e54a39
+size 190698
diff --git a/hands/barrett_hand/meshes/visual/med_link.glb b/hands/barrett_hand/meshes/visual/med_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f7c580080cf609c06573e31507fd854134360766
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/med_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f8c88b063da027430be4e5bef3a35337f1d8be6e7ead93b5f98b45f8cfb8a12
+size 44408
diff --git a/hands/barrett_hand/meshes/visual/med_link.mtl b/hands/barrett_hand/meshes/visual/med_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47341ab4c10d58f5578366f9705a9b289f6e36bb
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/med_link.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'mesh.blend'
+# www.blender.org
+
+newmtl silver_metal
+Ns 639.999939
+Ka 0.200000 0.200000 0.200000
+Kd 0.341914 0.356400 0.381326
+Ks 0.660000 0.660000 0.660000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/barrett_hand/meshes/visual/med_link.obj b/hands/barrett_hand/meshes/visual/med_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f444c0894a7fde9f0985625caa40f27c52d4f58d
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/med_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066c870b44c34dfde43a855fd1574882b855cbcb93dfda2a1a6753d543995530
+size 42485
diff --git a/hands/barrett_hand/meshes/visual/prox_link.glb b/hands/barrett_hand/meshes/visual/prox_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..8d78cc05e1869587b40a5e385bb0b8f09510cba2
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/prox_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9faae8c11ea6e302539fbe577bd281dd0bed44903e0df637fa161877f3ff0b
+size 91996
diff --git a/hands/barrett_hand/meshes/visual/prox_link.mtl b/hands/barrett_hand/meshes/visual/prox_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47341ab4c10d58f5578366f9705a9b289f6e36bb
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/prox_link.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'mesh.blend'
+# www.blender.org
+
+newmtl silver_metal
+Ns 639.999939
+Ka 0.200000 0.200000 0.200000
+Kd 0.341914 0.356400 0.381326
+Ks 0.660000 0.660000 0.660000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/barrett_hand/meshes/visual/prox_link.obj b/hands/barrett_hand/meshes/visual/prox_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76d52c013f013789ca81604def78c6b84aa12dd1
--- /dev/null
+++ b/hands/barrett_hand/meshes/visual/prox_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72797ef02e2183e1499ad046835b3c1ffcc9f7fdb309bb523c30ae5d4e7dfc3e
+size 90196
diff --git a/hands/dclaw_gripper/LICENSE b/hands/dclaw_gripper/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..84ee555f37d8bf9cd9f4815706366d83ed971e54
--- /dev/null
+++ b/hands/dclaw_gripper/LICENSE
@@ -0,0 +1,206 @@
+Copyright 2019 The ROBEL Authors. All rights reserved.
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diff --git a/hands/dclaw_gripper/dclaw_gripper.urdf b/hands/dclaw_gripper/dclaw_gripper.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5eb41268340f2eeddb0ac8f7c8595e8ae03cf8de
--- /dev/null
+++ b/hands/dclaw_gripper/dclaw_gripper.urdf
@@ -0,0 +1,408 @@
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diff --git a/hands/dclaw_gripper/dclaw_gripper_glb.urdf b/hands/dclaw_gripper/dclaw_gripper_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e87308c91cf9606b1d4851f14ff94796969d792
--- /dev/null
+++ b/hands/dclaw_gripper/dclaw_gripper_glb.urdf
@@ -0,0 +1,408 @@
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diff --git a/hands/dclaw_gripper/meshes/collision/base_link_cylinder.obj b/hands/dclaw_gripper/meshes/collision/base_link_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e0a188a83ba87537947e2f1e3a0fa6205b17b373
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/collision/base_link_cylinder.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:038fce444975c9d763a26ba594cc1f2ffc75f5d20c2602ef2c2e80c282ac2b0f
+size 7370
diff --git a/hands/dclaw_gripper/meshes/collision/finger_tip.obj b/hands/dclaw_gripper/meshes/collision/finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9a843f2c07f8196ed550a2f2fecce865ad22e1e8
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/collision/finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186a67df7b7f27734ca0f936b0c646d14d8c17058a9456d66845b0511fb5f303
+size 72020
diff --git a/hands/dclaw_gripper/meshes/visual/base_link.glb b/hands/dclaw_gripper/meshes/visual/base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f7f667e37c7b1388d960193fcb3a30fc8a8f5740
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:438e5ab306e31130ec4cc6ac03662cc76e45bf6c2e8dd394c70fded44a2b6120
+size 3176500
diff --git a/hands/dclaw_gripper/meshes/visual/base_link.mtl b/hands/dclaw_gripper/meshes/visual/base_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/base_link.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/dclaw_gripper/meshes/visual/base_link.obj b/hands/dclaw_gripper/meshes/visual/base_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afd1ecdf8efaf8c0c8a67e57725ea1c94cb3a1ea
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adc9593bccc40dc3e98ad3c3e88343c12b350c62e32df12b160c663c223578a6
+size 2691993
diff --git a/hands/dclaw_gripper/meshes/visual/link_1.glb b/hands/dclaw_gripper/meshes/visual/link_1.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0151e5c1d1f0d8199c5d254a4d6a66036abedece
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe0232aecae53efbf45c8482d05155126cf5b3c8262976b7a268f680d0ce933c
+size 2325976
diff --git a/hands/dclaw_gripper/meshes/visual/link_1.mtl b/hands/dclaw_gripper/meshes/visual/link_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_1.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/dclaw_gripper/meshes/visual/link_1.obj b/hands/dclaw_gripper/meshes/visual/link_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded2f1296a90c7cb3fe73af2d832e8241dc01f0c
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:376d9d100ed6235e4e4bf32242964ca0ad2dac0a89c18032a37ecf2c076ae7e7
+size 1904112
diff --git a/hands/dclaw_gripper/meshes/visual/link_2.glb b/hands/dclaw_gripper/meshes/visual/link_2.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d772ce4293e24acaaca6f05f5113b1f0a96da901
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_2.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfb59659008d10bced76bf1a271fd6df494351b3e60a1052e56a772fd8784392
+size 2379768
diff --git a/hands/dclaw_gripper/meshes/visual/link_2.mtl b/hands/dclaw_gripper/meshes/visual/link_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_2.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/dclaw_gripper/meshes/visual/link_2.obj b/hands/dclaw_gripper/meshes/visual/link_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ec89969bcadf6e7000c42197d6da095e7c94ff1
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_2.obj
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+version https://git-lfs.github.com/spec/v1
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+size 1895985
diff --git a/hands/dclaw_gripper/meshes/visual/link_3.glb b/hands/dclaw_gripper/meshes/visual/link_3.glb
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index 0000000000000000000000000000000000000000..c822ea47718dccb9bfe3599fd1b9be6fee7348df
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_3.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d640b75e97f24a674a4bede31d095b9761634c6ca2a873b0267d664b24a253
+size 957224
diff --git a/hands/dclaw_gripper/meshes/visual/link_3.mtl b/hands/dclaw_gripper/meshes/visual/link_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..413aa53aa4d8e52f52a9e2719986d67161f0a065
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_3.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.250000 0.250000 0.250000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/dclaw_gripper/meshes/visual/link_3.obj b/hands/dclaw_gripper/meshes/visual/link_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5dea80ede8bd3a01228528fc7fab9038f402a021
--- /dev/null
+++ b/hands/dclaw_gripper/meshes/visual/link_3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47bc7ecb8570e87552102565349ad9ab3391f64b17ef15a449df185167a5bb9b
+size 839825
diff --git a/hands/inspire_hand/LICENSE.txt b/hands/inspire_hand/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6bd9849938323a03b21977e1ef7bbb8474262159
--- /dev/null
+++ b/hands/inspire_hand/LICENSE.txt
@@ -0,0 +1,6 @@
+Copyright 2024
+
+The source model is derived from the step file provided on the inspire official website: https://www.inspire-robots.com/download/frwz/
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors before we could use them.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/inspire_hand/inspire_hand_left.urdf b/hands/inspire_hand/inspire_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d011c7fbb37fcabf5b4ba3f9cda4dc4d6f8fa6c1
--- /dev/null
+++ b/hands/inspire_hand/inspire_hand_left.urdf
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diff --git a/hands/inspire_hand/inspire_hand_right.urdf b/hands/inspire_hand/inspire_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1f71fc7bed3fb034e2837562e3d9ac7c574196e7
--- /dev/null
+++ b/hands/inspire_hand/inspire_hand_right.urdf
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diff --git a/hands/inspire_hand/meshes/collision/left_index_intermediate.obj b/hands/inspire_hand/meshes/collision/left_index_intermediate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54bbf9b0c965be05c3c245e9ac749fb4caf9120b
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_index_intermediate.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e29a7ed6b070a6a07cde1a60356c5b993e601d3a72c02d83bf1296f0f5fb902
+size 104519
diff --git a/hands/inspire_hand/meshes/collision/left_index_proximal.obj b/hands/inspire_hand/meshes/collision/left_index_proximal.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aac4a175531c3781e1b2ae503a946b7e5d892b0e
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_index_proximal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/left_middle_intermediate.obj b/hands/inspire_hand/meshes/collision/left_middle_intermediate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..751696f55fdf5622f31352dfc14b7afc0b68d11b
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_middle_intermediate.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/left_pinky_intermediate.obj b/hands/inspire_hand/meshes/collision/left_pinky_intermediate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7b51d7290a291ac227e7b745459443e0c0215b96
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_pinky_intermediate.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 164842
diff --git a/hands/inspire_hand/meshes/collision/left_thumb_distal.obj b/hands/inspire_hand/meshes/collision/left_thumb_distal.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86c30a952d74af58c0b8e4111016fc25d5edd0be
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_thumb_distal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_thumb_proximal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/left_thumb_proximal_base.obj b/hands/inspire_hand/meshes/collision/left_thumb_proximal_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03ad5bec37cee97e057868448892a269fee0ba95
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/left_thumb_proximal_base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/right_index_intermediate.obj b/hands/inspire_hand/meshes/collision/right_index_intermediate.obj
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--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/right_index_proximal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/right_pinky_intermediate.obj b/hands/inspire_hand/meshes/collision/right_pinky_intermediate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b15c34120e1207431d6e2542efd1d6e624d4af8
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/right_pinky_intermediate.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/right_thumb_distal.obj b/hands/inspire_hand/meshes/collision/right_thumb_distal.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9736b69ca849750cbd56eebc54d82847d5717637
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/right_thumb_distal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/right_thumb_proximal.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/collision/right_thumb_proximal_base.obj b/hands/inspire_hand/meshes/collision/right_thumb_proximal_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3542701a998fb3001c02455df61148cbca628ab1
--- /dev/null
+++ b/hands/inspire_hand/meshes/collision/right_thumb_proximal_base.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/left_base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+++ b/hands/inspire_hand/meshes/visual/left_index_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/inspire_hand/meshes/visual/left_pinky_intermediate.glb b/hands/inspire_hand/meshes/visual/left_pinky_intermediate.glb
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--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/left_thumb_distal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:993a02fe7f87003960c104bf6fdc76a297dc4a100b1de50042074d906dc52589
+size 45312
diff --git a/hands/inspire_hand/meshes/visual/left_thumb_intermediate.glb b/hands/inspire_hand/meshes/visual/left_thumb_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d593aa4ce7e4d53d0573bfcc08083ce1ad170f3c
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/left_thumb_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22e0c4cfd7b531d36f0bd9ead646c51c2257f39a00a68b7d236b5b2c78fee505
+size 89504
diff --git a/hands/inspire_hand/meshes/visual/left_thumb_proximal.glb b/hands/inspire_hand/meshes/visual/left_thumb_proximal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3ee06c3d8837a9e6d18f5c1129643d1f353992ab
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/left_thumb_proximal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658c983511369d1817a2206694540e1074908752f70ee730c7b2d6173fa747fa
+size 45684
diff --git a/hands/inspire_hand/meshes/visual/left_thumb_proximal_base.glb b/hands/inspire_hand/meshes/visual/left_thumb_proximal_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..712a2682b7635d3ce49e53cbb501109335c593fe
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/left_thumb_proximal_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0623a10ac8f6d7a0f5d8b974fa48af59da7f46d2440bed1e4161f385feb1883e
+size 39924
diff --git a/hands/inspire_hand/meshes/visual/right_base_link.glb b/hands/inspire_hand/meshes/visual/right_base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..243cdbb20cfde853b0ee26e050beee0ec49d3741
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e4523c936818785318829a5ae64831994d7a85814e53d6461c0ee9212ca6750
+size 851444
diff --git a/hands/inspire_hand/meshes/visual/right_index_intermediate.glb b/hands/inspire_hand/meshes/visual/right_index_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bb4e3f39bfc0bde128056002ba93586bef080cab
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_index_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f2041dd7674ba95d3fca88dbfdd721bf6f4c4b17d8ae56733ca040a6ee0584
+size 167248
diff --git a/hands/inspire_hand/meshes/visual/right_index_proximal.glb b/hands/inspire_hand/meshes/visual/right_index_proximal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12633481b6c7515fcd04ee0fe3427bc5017789fa
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_index_proximal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa989ff69ebf066dabef421ed9062d34a4588162aa1569c717a3262a99a031ba
+size 225860
diff --git a/hands/inspire_hand/meshes/visual/right_middle_intermediate.glb b/hands/inspire_hand/meshes/visual/right_middle_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1f29490a92aa63e5c133858d7b8aef3cb87ba7a5
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_middle_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57ae7d1525270ac4edef4f9ff1b98898e3943e39d3ccc4ab068831fd54349636
+size 146144
diff --git a/hands/inspire_hand/meshes/visual/right_pinky_intermediate.glb b/hands/inspire_hand/meshes/visual/right_pinky_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cd40cd60f942f760ddfd250d6b63d57aff7ff1bf
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_pinky_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b49449acc77fc66f78eaa2025e608b8eae94f22c1cc3e6b6663c960035675e3
+size 204908
diff --git a/hands/inspire_hand/meshes/visual/right_thumb_distal.glb b/hands/inspire_hand/meshes/visual/right_thumb_distal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3c473816862a83548824818712174a65f75ece52
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_thumb_distal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb4f5ac8fc524c0c70d06f98dd897307a0a340fa74091d3345c981d2a8f23cf8
+size 45788
diff --git a/hands/inspire_hand/meshes/visual/right_thumb_intermediate.glb b/hands/inspire_hand/meshes/visual/right_thumb_intermediate.glb
new file mode 100644
index 0000000000000000000000000000000000000000..406bf799bfab37ccd063dd55451f33d575cd0d7f
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_thumb_intermediate.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9df1f663633b73c918479c2b27bd7c586a90a7c9273f10b00e87030197c228
+size 88992
diff --git a/hands/inspire_hand/meshes/visual/right_thumb_proximal.glb b/hands/inspire_hand/meshes/visual/right_thumb_proximal.glb
new file mode 100644
index 0000000000000000000000000000000000000000..14b61b351122cc6f492006e553d4e070d3b7869e
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_thumb_proximal.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b9fdd15bcea183e0f05fa261cb7da93ba4d905e7fa04906c7776c9d3975d5a
+size 45796
diff --git a/hands/inspire_hand/meshes/visual/right_thumb_proximal_base.glb b/hands/inspire_hand/meshes/visual/right_thumb_proximal_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1aeff223b8654eae1f28eedd5b3b3df0ca877a84
--- /dev/null
+++ b/hands/inspire_hand/meshes/visual/right_thumb_proximal_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1143d3fc366a169e795be8003892f7e5d7cd5b7b322ac55b39089aca5c9f81
+size 40060
diff --git a/hands/leap_hand/LICENSE.txt b/hands/leap_hand/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..266ef0a30aa0cfa914d2c824b5277a08fb00c634
--- /dev/null
+++ b/hands/leap_hand/LICENSE.txt
@@ -0,0 +1,14 @@
+Copyright 2023 Ananye Agarwal
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+The model files we obtained from the previously mentioned source underwent
+significant modifications before we could use them. These modifications
+included changes to the meshes and the URDF file itself.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/leap_hand/leap_hand_left.urdf b/hands/leap_hand/leap_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f2c3907969605ec187623fe18a516db757d0cf74
--- /dev/null
+++ b/hands/leap_hand/leap_hand_left.urdf
@@ -0,0 +1,812 @@
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diff --git a/hands/leap_hand/leap_hand_left_glb.urdf b/hands/leap_hand/leap_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7b69912a9a3df40043e4a44bf7ae204fb872a3e0
--- /dev/null
+++ b/hands/leap_hand/leap_hand_left_glb.urdf
@@ -0,0 +1,812 @@
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diff --git a/hands/leap_hand/leap_hand_right.urdf b/hands/leap_hand/leap_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ec75cfa143e6223c02335a8cb3707033c84286e7
--- /dev/null
+++ b/hands/leap_hand/leap_hand_right.urdf
@@ -0,0 +1,812 @@
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diff --git a/hands/leap_hand/leap_hand_right_glb.urdf b/hands/leap_hand/leap_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..23e673c76b2f1e63bea41eb760e4cf22110a9a4d
--- /dev/null
+++ b/hands/leap_hand/leap_hand_right_glb.urdf
@@ -0,0 +1,812 @@
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diff --git a/hands/leap_hand/meshes/collision/white_tip.obj b/hands/leap_hand/meshes/collision/white_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19f69ac6d975e2fab23b317b96afdef016fd9873
--- /dev/null
+++ b/hands/leap_hand/meshes/collision/white_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc1d4b64f4f4115fb0fd776a14abd9496e339804bf42cb645d30aee13e61f88
+size 640739
diff --git a/hands/leap_hand/meshes/collision/white_tip_thumb.obj b/hands/leap_hand/meshes/collision/white_tip_thumb.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1d1506f86a746d532df8e6ffec68cda79497d0fb
--- /dev/null
+++ b/hands/leap_hand/meshes/collision/white_tip_thumb.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80e7c3de59c0b1b141e2c91ffa36374bef11636e362173d7a68a79022829020f
+size 402712
diff --git a/hands/leap_hand/meshes/visual/dip.glb b/hands/leap_hand/meshes/visual/dip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..26a1f18d6023cfb1ba231f19509899f93fb2adc0
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/dip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:548013ccb478a29552b2d8e150cc5f90f45c6a638bc008e9ed4f81b23228a6c0
+size 1485152
diff --git a/hands/leap_hand/meshes/visual/dip.mtl b/hands/leap_hand/meshes/visual/dip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/dip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/dip.obj b/hands/leap_hand/meshes/visual/dip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..df9b2541c30b7d1b90d6a8f371e0ea1c4abfb794
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/dip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472e054348c5a0e987829e721d5ba8486ddd47d867e416bb45d8d2a2ff917acf
+size 1013886
diff --git a/hands/leap_hand/meshes/visual/fingertip.glb b/hands/leap_hand/meshes/visual/fingertip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3f4eceef1af98eb87a0cee1e290f5d21eaa16619
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/fingertip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e422eb83230fed126c38d7b6f43a5f9ec71b58059c8acefdcf6b2ec04bdc0e7c
+size 544612
diff --git a/hands/leap_hand/meshes/visual/fingertip.mtl b/hands/leap_hand/meshes/visual/fingertip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e77c3f0cb8b7f88db1a3168f1b91fad36340629e
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/fingertip.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl White_tip
+Ns 250.000183
+Ka 0.250000 0.250000 0.250000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/fingertip.obj b/hands/leap_hand/meshes/visual/fingertip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6fb4cae0b35ff8692afe3ece8e2ea7a7146b69e
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/fingertip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bfa2afb2a06557ce0c54b03baec13522bfe561aabb576bd4701d4704f93ec0f
+size 359831
diff --git a/hands/leap_hand/meshes/visual/mcp_joint.glb b/hands/leap_hand/meshes/visual/mcp_joint.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35efbdae7205e04e8d0bac748a9fe35a27895919
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/mcp_joint.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b33228fa19433e260c20588698416d4a0fc7018cdf927c28316513d21f79c3e
+size 1557804
diff --git a/hands/leap_hand/meshes/visual/mcp_joint.mtl b/hands/leap_hand/meshes/visual/mcp_joint.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/mcp_joint.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/mcp_joint.obj b/hands/leap_hand/meshes/visual/mcp_joint.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b95d5ea50a961c49f5d79d03a15037e43ef2828
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/mcp_joint.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7194a6a33626ffcdfce78a0ca854e67b6b49f2e09a3bd62656f94515fdfbec
+size 1065471
diff --git a/hands/leap_hand/meshes/visual/palm_lower.glb b/hands/leap_hand/meshes/visual/palm_lower.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bf89a3198c9784920f3822b606bfb50dc72ce650
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3262010395bce54e8441adffc704b4cf10a2a1f69c3aa726ff5bb63de61a9f57
+size 5045588
diff --git a/hands/leap_hand/meshes/visual/palm_lower.mtl b/hands/leap_hand/meshes/visual/palm_lower.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/palm_lower.obj b/hands/leap_hand/meshes/visual/palm_lower.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee1b6c06ffedd76548141fa95beded3df239d3c9
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90d1d9b2a1c9eea15fbeb2232019c6191a55a3c4afa7f7427ce7afa0e3108b07
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diff --git a/hands/leap_hand/meshes/visual/palm_lower_left.glb b/hands/leap_hand/meshes/visual/palm_lower_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5e04f88a85c39bdec257a7a45dc0403c1717fa3a
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower_left.glb
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+version https://git-lfs.github.com/spec/v1
+oid sha256:c080628e0d47dd074db4499a942a3d623261034d6dabbb5c3b6be985eb1a7977
+size 5338144
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index 0000000000000000000000000000000000000000..4173f910f59d1d162f607f9456ad2799faa7648d
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower_left.mtl
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+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
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diff --git a/hands/leap_hand/meshes/visual/palm_lower_left.obj b/hands/leap_hand/meshes/visual/palm_lower_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4eee0c1e459b60e80ed8a457dd655905ec0db776
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/palm_lower_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5369c7bb802fb7effb58ff24d64da77b8630330c800cf490d96b631e93fed1e9
+size 4514064
diff --git a/hands/leap_hand/meshes/visual/pip.glb b/hands/leap_hand/meshes/visual/pip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0a49bd16f097d3d3b976f4c3b5cbc5eb6a17ce58
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/pip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f538bd1a1aff270032c55ec12b6b5f6df263465d8ad70900ef71ea8b3c7755f2
+size 1036400
diff --git a/hands/leap_hand/meshes/visual/pip.mtl b/hands/leap_hand/meshes/visual/pip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..667bb086aea4f67992554b43925f0947daeb8327
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/pip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
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diff --git a/hands/leap_hand/meshes/visual/pip.obj b/hands/leap_hand/meshes/visual/pip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..defa6f6f6904f0b980b1a52c2310526dee4e2a04
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/pip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fff19dc1f0100bb5f34eaf8a40fcf3db40f96fd7179bb7336e538b21ff8e067
+size 673869
diff --git a/hands/leap_hand/meshes/visual/pip_left.glb b/hands/leap_hand/meshes/visual/pip_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60231b4af9d3e7f00d5866aeb028f609c3771929
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:297c1aa40bc83e12b471f0e16950188153ea88f20a3fe8197823b9c1a3702470
+size 1076996
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index 0000000000000000000000000000000000000000..4173f910f59d1d162f607f9456ad2799faa7648d
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/pip_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/pip_left.obj b/hands/leap_hand/meshes/visual/pip_left.obj
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/pip_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9206845849784efef43486e2dafaad142f32a53c0d0fdde0381d178ec6acb4
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new file mode 100644
index 0000000000000000000000000000000000000000..56de4ded58fa33a559ff3f6ad512146984067676
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:90d8564dfc71b191a14a0464c6812255f32350647bae32eab8eac15972cc6db5
+size 1452096
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_dip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/thumb_dip.obj b/hands/leap_hand/meshes/visual/thumb_dip.obj
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_dip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_fingertip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88ba3ddc33179f6cb9427ab5dc8019dc1005d38ba1b75adf36d1c5531a30654
+size 1263544
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new file mode 100644
index 0000000000000000000000000000000000000000..e77c3f0cb8b7f88db1a3168f1b91fad36340629e
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_fingertip.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl White_tip
+Ns 250.000183
+Ka 0.250000 0.250000 0.250000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/thumb_fingertip.obj b/hands/leap_hand/meshes/visual/thumb_fingertip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..201e6e83f001ba0481007e0cfbe0619707107292
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_fingertip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4695d72a70285e8a0132ed4de49876cf99c813182e3a24b172b53631224890de
+size 734609
diff --git a/hands/leap_hand/meshes/visual/thumb_pip.glb b/hands/leap_hand/meshes/visual/thumb_pip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f275502094cfe107ad81c7fc0aaba6beed9050e8
--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_pip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fc1fcc3421ef81e07492ec1842e2fba1b2c3dcf60007ba2ae03525836e5be2d
+size 402568
diff --git a/hands/leap_hand/meshes/visual/thumb_pip.mtl b/hands/leap_hand/meshes/visual/thumb_pip.mtl
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_pip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'Leaphand_meshes.blend'
+# www.blender.org
+
+newmtl black_metal
+Ns 409.599976
+Ka 0.660000 0.660000 0.660000
+Kd 0.023153 0.023153 0.023153
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/leap_hand/meshes/visual/thumb_pip.obj b/hands/leap_hand/meshes/visual/thumb_pip.obj
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--- /dev/null
+++ b/hands/leap_hand/meshes/visual/thumb_pip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 294575
diff --git a/hands/panda_gripper/meshes/visual/finger.glb b/hands/panda_gripper/meshes/visual/finger.glb
new file mode 100644
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--- /dev/null
+++ b/hands/panda_gripper/meshes/visual/finger.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3362790a5d76ab35d74e414e2c54ec6491e02c05aa16ff2b37b67c897824ae77
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--- /dev/null
+++ b/hands/panda_gripper/meshes/visual/hand.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hands/schunk_hand/LICENSE b/hands/schunk_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..ea8de3c0b02014ad48b74c5f466c002c0a05da2b
--- /dev/null
+++ b/hands/schunk_hand/LICENSE
@@ -0,0 +1,677 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works. By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users. We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+ To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights. Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+ For example, if you distribute copies of such a program, whether
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+
+ Developers that use the GNU GPL protect your rights with two steps:
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+ For the developers' and authors' protection, the GPL clearly explains
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+ 16. Limitation of Liability.
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+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
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+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
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+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+
+ Copyright (C)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ Copyright (C)
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
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diff --git a/hands/schunk_hand/schunk_svh_hand_left.urdf b/hands/schunk_hand/schunk_svh_hand_left.urdf
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index 0000000000000000000000000000000000000000..34cba84a42f1f77850a3b2c47c1a39439e70bd3d
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diff --git a/hands/schunk_hand/schunk_svh_hand_left_glb.urdf b/hands/schunk_hand/schunk_svh_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02f2a22b4835186b2e2acb77f94730f091ef91fe
--- /dev/null
+++ b/hands/schunk_hand/schunk_svh_hand_left_glb.urdf
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diff --git a/hands/schunk_hand/schunk_svh_hand_right.urdf b/hands/schunk_hand/schunk_svh_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..df7d2f8137e61a94645d66c9a5f5d585a13db4b3
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diff --git a/hands/schunk_hand/schunk_svh_hand_right_glb.urdf b/hands/schunk_hand/schunk_svh_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3c09f7ca12e796636fa469095c6665f7a406ba44
--- /dev/null
+++ b/hands/schunk_hand/schunk_svh_hand_right_glb.urdf
@@ -0,0 +1,574 @@
+
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diff --git a/hands/shadow_hand/LICENSE b/hands/shadow_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..b87901b1ee5012ebc6b5e26a8394cfafa06c7bfe
--- /dev/null
+++ b/hands/shadow_hand/LICENSE
@@ -0,0 +1,205 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
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+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
+ exercising permissions granted by this License.
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+ "Derivative Works" shall mean any work, whether in Source or Object
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+ "Contribution" shall mean any work of authorship, including
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+ designated in writing by the copyright owner as "Not a Contribution."
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+ 2. Grant of Copyright License. Subject to the terms and conditions of
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+ may provide additional or different license terms and conditions
+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright 2022 Shadow Robot Company Ltd
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/hands/shadow_hand/README.md b/hands/shadow_hand/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7cf3f1c76f0203a32b0930042fa83ada9f709b5c
--- /dev/null
+++ b/hands/shadow_hand/README.md
@@ -0,0 +1,13 @@
+### Modifications to URDF
+
+The initial `dae` meshes found in
+the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle)
+were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was
+applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.
+
+For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor.
+
+In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and
+IsaacGym.
+
+Almost all meshes have been modified to improve visual quality and collision management.
\ No newline at end of file
diff --git a/hands/shadow_hand/bimanual.urdf b/hands/shadow_hand/bimanual.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c5da7f37ea6a0af2ce80acececa06d3c16853
--- /dev/null
+++ b/hands/shadow_hand/bimanual.urdf
@@ -0,0 +1,1893 @@
+
+
+
+
+
+
+
+
+
+
+
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+
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+
+
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+
+
+
+
+
+
+
+
+
+
+ false
+
+
+
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+
+
+
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+
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+ 1
+ 1
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diff --git a/hands/shadow_hand/meshes/collision/f_distal_pst.obj b/hands/shadow_hand/meshes/collision/f_distal_pst.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdb12222fb7ee62ae326a3f253736033606bba7
--- /dev/null
+++ b/hands/shadow_hand/meshes/collision/f_distal_pst.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60fc4387b60b9362cdbc5b40d8f3869247cc5049de75fc6e7e7ae32cf8e87e33
+size 29008
diff --git a/hands/shadow_hand/meshes/collision/f_knuckle_E3M5.obj b/hands/shadow_hand/meshes/collision/f_knuckle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cc3acf46c206bf39ed27a542bb1b497a0ebb0a
--- /dev/null
+++ b/hands/shadow_hand/meshes/collision/f_knuckle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b76866ef85a388f79dba377293c7d12a17154d369c225e760afa9ccd5fa6b22
+size 7362
diff --git a/hands/shadow_hand/meshes/collision/forearm_E3M5.obj b/hands/shadow_hand/meshes/collision/forearm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbbbb866b15fbfb2a3f25de381d9ab226767cce
--- /dev/null
+++ b/hands/shadow_hand/meshes/collision/forearm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae348fdf00c61695dbd484455070101e901d89f3977a7585ae575742cec4a3be
+size 29880
diff --git a/hands/shadow_hand/meshes/collision/th_middle_E3M5.obj b/hands/shadow_hand/meshes/collision/th_middle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf35a0b211deabaf645fec50df299fcab93c93
--- /dev/null
+++ b/hands/shadow_hand/meshes/collision/th_middle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de7278a75a3cc202f7186f0e0701c22c2cd6cdaf6ea68f991cbefb819d7bce38
+size 321510
diff --git a/hands/shadow_hand/meshes/collision/th_proximal_E3M5.obj b/hands/shadow_hand/meshes/collision/th_proximal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6383ef4583b431a4dadd6c4aa3bfe593207eb18
--- /dev/null
+++ b/hands/shadow_hand/meshes/collision/th_proximal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1763d80c8e34ed86bc20f0de67cd683aaf10eb7ff3b8395a9ab2b35554183c4c
+size 353175
diff --git a/hands/shadow_hand/meshes/visual/f_distal_pst.glb b/hands/shadow_hand/meshes/visual/f_distal_pst.glb
new file mode 100644
index 0000000000000000000000000000000000000000..159b14f0ccb3db9e7fe5f20a0d657d9320bb066f
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_distal_pst.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a961159aafcda9906e30456dbe6956890b207bea6dd82aa83494473a2a7692a4
+size 393712
diff --git a/hands/shadow_hand/meshes/visual/f_distal_pst.mtl b/hands/shadow_hand/meshes/visual/f_distal_pst.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_distal_pst.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/hands/shadow_hand/meshes/visual/f_distal_pst.obj b/hands/shadow_hand/meshes/visual/f_distal_pst.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3274b375c6e5cc849588b3e64c45e8916ac42f1
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_distal_pst.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d7ddc2166089b0c670806c1d1eb4b47b8f8c48428c00581b0fe64d59d4e5f8
+size 378684
diff --git a/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.glb b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..607944f6704a6ed9f06a9ded2469336f365ee78f
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfd18bc698f89813900fd1a743459b35f95c8aa3d873e37bd5749ef4cdef16a
+size 41528
diff --git a/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61ea4e44c443b4687eb50f2af4cb24bb5811c6e0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
+Ks 0.600000 0.600000 0.600000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.obj b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b418c63eb14eda3ed41e5b4584cec5009385e0d
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_knuckle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1452690f5f93875665e5b23f022e89fa04f2a6aab6e49ae0112db7821f759792
+size 36617
diff --git a/hands/shadow_hand/meshes/visual/f_middle_E3M5.glb b/hands/shadow_hand/meshes/visual/f_middle_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e535fbcbb0bda19180b653a5656e81db966e19a7
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_middle_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88aa04c5c084e64eb1d210c74638d552fb3efbdff6e5875f0193fe22a40a695d
+size 33764
diff --git a/hands/shadow_hand/meshes/visual/f_middle_E3M5.mtl b/hands/shadow_hand/meshes/visual/f_middle_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_middle_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
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+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/hands/shadow_hand/meshes/visual/f_middle_E3M5.obj b/hands/shadow_hand/meshes/visual/f_middle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b35f648eaa190f391fd4eddd9fc1636b0a38a91
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_middle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c0b460c69894cbef8bc1ab8bfed6112832a20aa77531f3823a4fb8090daeac
+size 29082
diff --git a/hands/shadow_hand/meshes/visual/f_proximal_E3M5.glb b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d3dafd023cc6523a0bce48ef19e9f8e8bc4edfc6
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c43089eac777d05cf902620931b81870aa3bfb811370ffa58d34548577d8c85
+size 78800
diff --git a/hands/shadow_hand/meshes/visual/f_proximal_E3M5.mtl b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
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+Ni 1.450000
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+illum 2
diff --git a/hands/shadow_hand/meshes/visual/f_proximal_E3M5.obj b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9bbc03bdc3178b7cbfaeb0295e835a26447379
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/f_proximal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb5475347a153997da789b0ab46b3b1b945906c9bf6a4e28787150ed3afa8cd
+size 71175
diff --git a/hands/shadow_hand/meshes/visual/forearm_E3M5.glb b/hands/shadow_hand/meshes/visual/forearm_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a260e239e304ec94b3b2023be72aa2b0fda77dec
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/forearm_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bbef2f9dead84f527fef66bd1993895477388daeb1550b9bcd7a25e713754c
+size 471844
diff --git a/hands/shadow_hand/meshes/visual/forearm_E3M5.mtl b/hands/shadow_hand/meshes/visual/forearm_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b00dd640dc1aff21b3302f83061737e58162e0be
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/forearm_E3M5.mtl
@@ -0,0 +1,32 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
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+illum 3
+
+newmtl Material.002
+Ns 490.000000
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+
+newmtl Material_006
+Ns 250.000000
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diff --git a/hands/shadow_hand/meshes/visual/forearm_E3M5.obj b/hands/shadow_hand/meshes/visual/forearm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7b2240643cf09e540d24164def63f32301f150
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/forearm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f719d4131da5edd1c43e8a560481087074833e3fe4580f4ffe0ea3d07691fb
+size 442301
diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5afeeced96327602919bf8e10678547a337f9756
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be27d164d5eafa1ab272d755f5f363454c5204102135ef0bb486045520b878f
+size 107936
diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
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diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be72ccae81999892cf2f8a742487dc7c3b37846
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def539fcdefb4399ae69cb4fc5b2c5296b43ec7015c5581c2b90e7643a030a62
+size 98772
diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ac4efb7f0f2a055f0796604a059d480facd5d09
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69f0ad7600c6f1eb7c74ba563d0acaa5864b31531e94a660ba8bf5cd7a23817
+size 107824
diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12df0b124896530b0e2488fc72b9f2b8c9dee912
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980b5cb701fb8036797567e250f6f972971df937
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe1dc639cd9c212229a4010f60ebc56b174ff6891eac05410e6bee2965f927f
+size 43756
diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5.glb b/hands/shadow_hand/meshes/visual/palm_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d9663b182110351232bdedb866905f992aab60a
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb1a4b613d28970100090830626a09ad1ca4d5479278880226baa7ed915a3fc
+size 857944
diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5.mtl b/hands/shadow_hand/meshes/visual/palm_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5.obj b/hands/shadow_hand/meshes/visual/palm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98503ddc7ce1a45749fd6502f422756e634139a3
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529d6bcf4f356aeaece8a9c884d98bc399d039fdb2f3174449aeaaf262aa812d
+size 807151
diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5_left.glb b/hands/shadow_hand/meshes/visual/palm_E3M5_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56cc4a339dd299b03bb833a9746d00a13ad15da7
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9871bc32f2385187a199fa840c08528201f5ba05d690388b652326e6eb8714
+size 858264
diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5_left.mtl b/hands/shadow_hand/meshes/visual/palm_E3M5_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52454571323113e8bc054aa37ccaea481c11c1de
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/palm_E3M5_left.obj b/hands/shadow_hand/meshes/visual/palm_E3M5_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8830bd4b6bbd244d1a2c920ac166a5c8114600f5
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/palm_E3M5_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7b3a9f8e00602aaba900fe107a19e7a9ab480750faa63812311d5009711bdf
+size 385205
diff --git a/hands/shadow_hand/meshes/visual/th_distal_pst.glb b/hands/shadow_hand/meshes/visual/th_distal_pst.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f0be6da450a1a2d1e567c1bb07c488df71107d8b
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_distal_pst.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b664fc97df01a855e237a1cac0b25e6dfeb3322ead9c77dc338877cb5854d6e7
+size 353408
diff --git a/hands/shadow_hand/meshes/visual/th_distal_pst.mtl b/hands/shadow_hand/meshes/visual/th_distal_pst.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_distal_pst.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/th_distal_pst.obj b/hands/shadow_hand/meshes/visual/th_distal_pst.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b9e52a6ae3dbd3a7b7e5ecde9b47283831bf939
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_distal_pst.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 338390
diff --git a/hands/shadow_hand/meshes/visual/th_middle_E3M5.glb b/hands/shadow_hand/meshes/visual/th_middle_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..066703fbaf5f8aa8e3e725c16cffcab564c38c45
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_middle_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee962b02fd4d1f40cf71e9d44c10fccaea022c5c08312ab318b6045b8426a3b
+size 95600
diff --git a/hands/shadow_hand/meshes/visual/th_middle_E3M5.mtl b/hands/shadow_hand/meshes/visual/th_middle_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_middle_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/th_middle_E3M5.obj b/hands/shadow_hand/meshes/visual/th_middle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6081a371512a166118b079ac9c248ce2dd46ab32
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_middle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49416cd8b0ca8a976749cc7c954ce56a59fc9e4664c68fc931d14a1a53ffd2ba
+size 85987
diff --git a/hands/shadow_hand/meshes/visual/th_proximal_E3M5.glb b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..12a08e7131d6152065ecae76332d8120b5bc2f55
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a16729bc49472397cc02663998e903f49cab353b9385d4469b801d6c9ceadb9
+size 30940
diff --git a/hands/shadow_hand/meshes/visual/th_proximal_E3M5.mtl b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/hands/shadow_hand/meshes/visual/th_proximal_E3M5.obj b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef466740e108659c92c03ebb5215aed3c8dbfc9d
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/th_proximal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 26737
diff --git a/hands/shadow_hand/meshes/visual/wrist_E3M5.glb b/hands/shadow_hand/meshes/visual/wrist_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5d4bf754f7fa7cf859ba3a51e6ef87b0c5646f8f
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/wrist_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f04596fc7e45d5f33f797a20187842433e36c560cde1eae8fe6f51728b915e
+size 132856
diff --git a/hands/shadow_hand/meshes/visual/wrist_E3M5.mtl b/hands/shadow_hand/meshes/visual/wrist_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..376347605bd9c7319554902862b53c7e701efe0f
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/wrist_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.800000 0.800000 0.800000
+Kd 0.500000 0.500000 0.500000
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diff --git a/hands/shadow_hand/meshes/visual/wrist_E3M5.obj b/hands/shadow_hand/meshes/visual/wrist_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f5508291b1eba551352b0a0be3a321a2c9d51596
--- /dev/null
+++ b/hands/shadow_hand/meshes/visual/wrist_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 124663
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--- /dev/null
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diff --git a/hands/shadow_hand/shadow_hand_left_glb.urdf b/hands/shadow_hand/shadow_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e1f91b7f2b13ce4277bb26f7cfb3f459ae01a23
--- /dev/null
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diff --git a/hands/shadow_hand/shadow_hand_right.urdf b/hands/shadow_hand/shadow_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3455a77d76b3b64139a7d24cf423bcbefa85e345
--- /dev/null
+++ b/hands/shadow_hand/shadow_hand_right.urdf
@@ -0,0 +1,894 @@
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diff --git a/hands/shadow_hand/shadow_hand_right_glb.urdf b/hands/shadow_hand/shadow_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a0d2e9323650e3aba4698bedb669afcd79f0364
--- /dev/null
+++ b/hands/shadow_hand/shadow_hand_right_glb.urdf
@@ -0,0 +1,894 @@
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diff --git a/panda_hand.zip b/panda_hand.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6ed60a840554283621327d35296b9bc0d6d364f3
--- /dev/null
+++ b/panda_hand.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ddc366104c95a235f50a5307133161f1b7698ef6a206d5d12edf3c3b397dcb
+size 5995621
diff --git a/panda_hand/.asset_hash b/panda_hand/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..9a4adcbf66e5fe2485e051e033a09d696c4e30e7
--- /dev/null
+++ b/panda_hand/.asset_hash
@@ -0,0 +1 @@
+a48ad05278cd0d7f831240984b987a8a
\ No newline at end of file
diff --git a/panda_hand/Franka.usd b/panda_hand/Franka.usd
deleted file mode 100644
index e85862024c3973ba007e250efd2ede3a2e654135..0000000000000000000000000000000000000000
--- a/panda_hand/Franka.usd
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c9210880adbafd161d3af2c5c1e51d3ac07d4d306a8855ba8c4c89ca7acff268
-size 5369
diff --git a/panda_hand/config.yaml b/panda_hand/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..774048f5b344d5c895a464d0785ffa0792463c18
--- /dev/null
+++ b/panda_hand/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/tianxing/Luminis/assets/robots/panda_hand/panda_hand.urdf
+usd_dir: /home/ubuntu/tianxing/Luminis/assets/robots/panda_hand
+usd_file_name: panda_hand.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-11-30 at 17:29:12.
+##
diff --git a/panda_hand/configuration/panda_hand_base.usd b/panda_hand/configuration/panda_hand_base.usd
new file mode 100644
index 0000000000000000000000000000000000000000..4d325878af1e6f0fef09aa5f8b1eff7ccb726e7f
--- /dev/null
+++ b/panda_hand/configuration/panda_hand_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538a9c5e2b3fb44d1a28c57dc51e5916934acf832f3e39b645fb69dd93e2d850
+size 17297112
diff --git a/panda_hand/configuration/panda_hand_physics.usd b/panda_hand/configuration/panda_hand_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..7b554a7bb3751eb8f213fafeedf5cbfde3be4c03
--- /dev/null
+++ b/panda_hand/configuration/panda_hand_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35cff2e68d1793a490235f0d5cd96383c7a4dff3d160607e9b7655b3bbbf0b33
+size 3283
diff --git a/panda_hand/configuration/panda_hand_robot.usd b/panda_hand/configuration/panda_hand_robot.usd
new file mode 100644
index 0000000000000000000000000000000000000000..88de399b242428361b725aaebaa116622fd4fc7f
--- /dev/null
+++ b/panda_hand/configuration/panda_hand_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c2e67f6864b681c95b5fd6b6e37986f13fd4e5e8cfbc74c6eadf41fbfa7dfe9
+size 1562
diff --git a/panda_hand/configuration/panda_hand_sensor.usd b/panda_hand/configuration/panda_hand_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..33f2cdf03c657bb90ed98ed77006c7e8c5816f1a
--- /dev/null
+++ b/panda_hand/configuration/panda_hand_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36584cbfd5622e00ce3799321f933f2db14e206f8063ba9a38dd53087a6e2a06
+size 650
diff --git a/panda_hand/franka_description/meshes/visual/camera_base.glb b/panda_hand/franka_description/meshes/visual/camera_base.glb
new file mode 100644
index 0000000000000000000000000000000000000000..49e8de085296a084e6fb38e5ea8958e5a1383c4f
--- /dev/null
+++ b/panda_hand/franka_description/meshes/visual/camera_base.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5852ad73d6ab5a5699191df1b0b8f211516ebdb35ccf3356c049a115b06ee431
+size 77420
diff --git a/panda_hand/franka_description/meshes/visual/camera_base.stl b/panda_hand/franka_description/meshes/visual/camera_base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..6411831dbc8dc378d7622c5c6521a0f81e96ba17
--- /dev/null
+++ b/panda_hand/franka_description/meshes/visual/camera_base.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae114b7804ba5d1e8d115f794634864ce0e273781682eee760c82baf1f47f0fd
+size 507284
diff --git a/panda_hand/franka_description/meshes/visual/d435.dae b/panda_hand/franka_description/meshes/visual/d435.dae
new file mode 100644
index 0000000000000000000000000000000000000000..238d909967356db659a5cb7fd723a3e2df9ccfd5
--- /dev/null
+++ b/panda_hand/franka_description/meshes/visual/d435.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2f22fce9f1865fe5a1597b16d43f6aca62b694c573b8d195c36c945bdf26a6
+size 21433515
diff --git a/panda_hand/panda_hand.urdf b/panda_hand/panda_hand.urdf
index c9fe63b68c2abbf5b7ac93696299f8a50ba8e801..bf1e2f49c5dbd6cee05275e047f97d1c24bf6c31 100644
--- a/panda_hand/panda_hand.urdf
+++ b/panda_hand/panda_hand.urdf
@@ -14,6 +14,37 @@
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@@ -50,7 +81,7 @@
-
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@@ -59,7 +90,7 @@
-
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diff --git a/panda_hand/panda_hand.usd b/panda_hand/panda_hand.usd
index 2919ddc23931c825a78aa18a1070194b2ee04326..fc4878a494dbaaae450b1c36e0d7183c54e3d09c 100644
--- a/panda_hand/panda_hand.usd
+++ b/panda_hand/panda_hand.usd
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:6c1b33886c82439f3b5d8416b1d0fad9fc7f12a5dc8a64eeb08414742ab9dbd6
-size 3658
+oid sha256:1609d6b48a7308c2588eaea95dc32d8301faf9e2e9e13478dfb5664756420e34
+size 5853
diff --git a/panda_hand/umi_config.yml b/panda_hand/umi_config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..f54b4f4d00d2eb810abbccc2f5782cddaf998d90
--- /dev/null
+++ b/panda_hand/umi_config.yml
@@ -0,0 +1,47 @@
+urdf_path: "./panda_hand.urdf"
+# srdf_path: "./panda_hand.srdf"
+gripper_stiffnes: 1000
+gripper_damping: 200
+gripper_name:
+ - base: "panda_finger_joint1"
+ mimic: [["panda_finger_joint2", 1., 0.]]
+ - base: "panda_finger_joint1"
+ mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_joint_indices: [0, 1]
+ee_link: ["panda_hand","panda_hand"]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.05]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.205, 0.945, 0.0, 0.707, 0.707, 0.0],
+ [0, -0.205, 0.945, 0.0, 0.707, 0.707, 0.0]]
+rotate_lim: [0.1, 0.8]
+grasp_perfect_direction: ['right', 'left']
+static_camera_list:
+- name: head_camera
+ position:
+ - -0.0
+ - -0.6
+ - 1.43
+ forward:
+ - 0
+ - 0.6
+ - -0.8
+ left:
+ - -1
+ - 0
+ - 0
+- name: wrist_camera
+ position:
+ - -0.0
+ - -0.015
+ - 0
+ forward:
+ - 1
+ - 0
+ - 0
+ left:
+ - 0
+ - 1
+ - 0
+ link: "camera"
\ No newline at end of file
diff --git a/panda_hand_bac/.asset_hash b/panda_hand_bac/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..cc309dd6b929799a66e6a45e58374bdc30a3d8fa
--- /dev/null
+++ b/panda_hand_bac/.asset_hash
@@ -0,0 +1 @@
+9324f0d179a1153535c55ec26c581f0b
\ No newline at end of file
diff --git a/panda_hand_bac/config.yaml b/panda_hand_bac/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0541f1b9c1baadd2867f18ecbbd60a0713ae0eb2
--- /dev/null
+++ b/panda_hand_bac/config.yaml
@@ -0,0 +1,23 @@
+asset_path: /home/ubuntu/tianxing/Luminis/assets/robots/panda_hand/panda_hand.urdf
+usd_dir: /home/ubuntu/tianxing/Luminis/assets/robots/panda_hand
+usd_file_name: panda_hand.usd
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-11-27 at 11:57:36.
+##
diff --git a/panda_hand_bac/configuration/panda_hand_base.usd b/panda_hand_bac/configuration/panda_hand_base.usd
new file mode 100644
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--- /dev/null
+++ b/panda_hand_bac/configuration/panda_hand_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c7c5c91831634206edfc7cb1d7a90277ac458e5e8aac35b2240b44b36506637
+size 577884
diff --git a/panda_hand_bac/configuration/panda_hand_physics.usd b/panda_hand_bac/configuration/panda_hand_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..b6364c8f1f7c64f7dba213c6b1fa2a015483174b
--- /dev/null
+++ b/panda_hand_bac/configuration/panda_hand_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1de632c6ea54e2ff36b72042404e5ac7a3f96d9d633245175c2bf8d0a0d8b04
+size 3000
diff --git a/panda_hand_bac/configuration/panda_hand_robot.usd b/panda_hand_bac/configuration/panda_hand_robot.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1ca6bfe45fb5b6bb586308923702a08894c4a02f
--- /dev/null
+++ b/panda_hand_bac/configuration/panda_hand_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3e839d8ec2b1897bd8cf47540eb9e30e195539d75022232bc6abccc2d899278
+size 1442
diff --git a/panda_hand_bac/configuration/panda_hand_sensor.usd b/panda_hand_bac/configuration/panda_hand_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..33f2cdf03c657bb90ed98ed77006c7e8c5816f1a
--- /dev/null
+++ b/panda_hand_bac/configuration/panda_hand_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36584cbfd5622e00ce3799321f933f2db14e206f8063ba9a38dd53087a6e2a06
+size 650
diff --git a/panda_hand_bac/franka_description/meshes/collision/finger.stl b/panda_hand_bac/franka_description/meshes/collision/finger.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ef5e672efbb990561b36fcee2c15b2f61cf42065
--- /dev/null
+++ b/panda_hand_bac/franka_description/meshes/collision/finger.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d07a740392f3b9b0816f65d64fff9927d3d57c897870fc4b6ff9c56fff3a0c8
+size 1684
diff --git a/panda_hand_bac/franka_description/meshes/collision/hand.stl b/panda_hand_bac/franka_description/meshes/collision/hand.stl
new file mode 100644
index 0000000000000000000000000000000000000000..bb315217a60e27343b84a9d4e3a4686762c4fc8d
--- /dev/null
+++ b/panda_hand_bac/franka_description/meshes/collision/hand.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94493e94f30fe940f2c8ca2f155c3bbe67bbff406d3edf5e261670d2f0f6e2ed
+size 10084
diff --git a/panda_hand_bac/franka_description/meshes/visual/finger.dae b/panda_hand_bac/franka_description/meshes/visual/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..06f2732f3d24135ff2c06b0217fc328925cb40b5
--- /dev/null
+++ b/panda_hand_bac/franka_description/meshes/visual/finger.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9d5471e9cdf76f85493df6fe6c76d29810edd21577c204009160496d5b77fbb
+size 51123
diff --git a/panda_hand_bac/franka_description/meshes/visual/hand.dae b/panda_hand_bac/franka_description/meshes/visual/hand.dae
new file mode 100644
index 0000000000000000000000000000000000000000..073dd433d2574db0060d31b8f03f26a4f5851bee
--- /dev/null
+++ b/panda_hand_bac/franka_description/meshes/visual/hand.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9602bbad114cfefd4bbb0cd0a57f3021bce9efbaaa1604a5e72bfb76926bb019
+size 548949
diff --git a/panda_hand_bac/panda_hand.urdf b/panda_hand_bac/panda_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2221c81d0ddaeca3767ef13846e8355ce5201c12
--- /dev/null
+++ b/panda_hand_bac/panda_hand.urdf
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diff --git a/panda_hand_bac/panda_hand.usd b/panda_hand_bac/panda_hand.usd
new file mode 100644
index 0000000000000000000000000000000000000000..80e37669ebbd89f374e9502ee6dd6bb2da1078e2
--- /dev/null
+++ b/panda_hand_bac/panda_hand.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112db4e174e90667b50bb6563defeabc5de75a1b9b39046843b7e1a20a430430
+size 5432
diff --git a/panda_hand_bac/umi_config.yml b/panda_hand_bac/umi_config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..c59bbdc8058c7b1e6f2d1d1af679d65d984cb929
--- /dev/null
+++ b/panda_hand_bac/umi_config.yml
@@ -0,0 +1,47 @@
+urdf_path: "./panda_hand.urdf"
+# srdf_path: "./panda_hand.srdf"
+gripper_stiffnes: 1000
+gripper_damping: 200
+gripper_name:
+ - base: "panda_finger_joint1"
+ mimic: [["panda_finger_joint2", 1., 0.]]
+ - base: "panda_finger_joint1"
+ mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_joint_indices: [0, 1]
+ee_link: ["panda_hand","panda_hand"]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.05]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.205, 0.945, 0.0, 0.707, 0.707, 0.0],
+ [0, -0.205, 0.945, 0.0, 0.707, 0.707, 0.0]]
+rotate_lim: [0.1, 0.8]
+grasp_perfect_direction: ['right', 'left']
+static_camera_list:
+- name: head_camera
+ position:
+ - -0.0
+ - -0.6
+ - 1.43
+ forward:
+ - 0
+ - 0.6
+ - -0.8
+ left:
+ - -1
+ - 0
+ - 0
+- name: wrist_camera
+ position:
+ - -0.01
+ - -0.02
+ - 0
+ forward:
+ - 1
+ - 0
+ - 0
+ left:
+ - 0
+ - 1
+ - 0
+ link: "camera"
\ No newline at end of file
diff --git a/ur5e_inspire_left/.asset_hash b/ur5e_inspire_left/.asset_hash
new file mode 100644
index 0000000000000000000000000000000000000000..f48547fd3c7917649c99e438535019027e598196
--- /dev/null
+++ b/ur5e_inspire_left/.asset_hash
@@ -0,0 +1 @@
+1e9d2a0783b89cf239ba3852e9da2223
\ No newline at end of file
diff --git a/ur5e_inspire_left/.thumbs/256x256/ur5e_shadow_left_hand_glb.usd.png b/ur5e_inspire_left/.thumbs/256x256/ur5e_shadow_left_hand_glb.usd.png
new file mode 100644
index 0000000000000000000000000000000000000000..557e640887a48ca37c038dcd20a34e6b95707613
--- /dev/null
+++ b/ur5e_inspire_left/.thumbs/256x256/ur5e_shadow_left_hand_glb.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea9f220984e435315fa68b6766736989e66b32ef2f0c6ab30ff44528e23d1ccd
+size 26504
diff --git a/ur5e_inspire_left/config.yaml b/ur5e_inspire_left/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1be352cc0e8979ba7b4d22da3dff6105b21188fd
--- /dev/null
+++ b/ur5e_inspire_left/config.yaml
@@ -0,0 +1,18 @@
+asset_path: /home/isaac/DexGarmentLab/Assets/robots/assembly/ur5e_inspire/ur5e_shadow_right_hand_glb.urdf
+usd_dir: /home/isaac/DexGarmentLab/Assets/robots/assembly/ur5e_inspire
+usd_file_name: ur5e_shadow_right_hand_glb.usd
+force_usd_conversion: true
+make_instanceable: false
+import_inertia_tensor: true
+fix_base: true
+merge_fixed_joints: true
+self_collision: false
+default_drive_type: none
+override_joint_dynamics: false
+default_drive_stiffness: 0.0
+default_drive_damping: 0.0
+link_density: 0.0
+convex_decompose_mesh: false
+##
+# Generated by UrdfConverter on 2025-01-04 at 19:33:53.
+##
diff --git a/ur5e_inspire_left/ur5e_inspire_left_hand_glb.urdf b/ur5e_inspire_left/ur5e_inspire_left_hand_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4a0ca65fb18a40f957af01b3ae526a9e98a795fc
--- /dev/null
+++ b/ur5e_inspire_left/ur5e_inspire_left_hand_glb.urdf
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new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/ur5e_inspire_left/ur5e_inspire_right_hand_glb.usd b/ur5e_inspire_left/ur5e_inspire_right_hand_glb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..bb63cf480e418e3de5e6aaf0a41414a7c7973b18
--- /dev/null
+++ b/ur5e_inspire_left/ur5e_inspire_right_hand_glb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 13238270
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new file mode 100644
index 0000000000000000000000000000000000000000..a388d4376cc460d149fd2a7217189e74cf4414f6
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diff --git a/ur5e_shadow_left/config.yaml b/ur5e_shadow_left/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9043abe00fc3ae63cb13e21e64a3d15c6f9d6b21
--- /dev/null
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+asset_path: /home/isaac/dex-urdf/robots/assembly/ur5e_shadow/ur5e_shadow_right_hand_glb.urdf
+usd_dir: /home/isaac/dex-urdf/robots/assembly/ur5e_shadow
+usd_file_name: ur5e_shadow_right_hand_glb.usd
+force_usd_conversion: true
+make_instanceable: false
+import_inertia_tensor: true
+fix_base: true
+merge_fixed_joints: false
+self_collision: false
+default_drive_type: none
+override_joint_dynamics: false
+default_drive_stiffness: 0.0
+default_drive_damping: 0.0
+link_density: 0.0
+convex_decompose_mesh: false
+##
+# Generated by UrdfConverter on 2024-09-21 at 20:30:39.
+##
diff --git a/ur5e_shadow_left/ur5e_shadow_left_hand_glb.urdf b/ur5e_shadow_left/ur5e_shadow_left_hand_glb.urdf
new file mode 100644
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diff --git a/ur5e_shadow_left/ur5e_shadow_left_hand_glb.usd b/ur5e_shadow_left/ur5e_shadow_left_hand_glb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..71a4bd467d481f8fba96115cf5f0eaabaf93f9d8
--- /dev/null
+++ b/ur5e_shadow_left/ur5e_shadow_left_hand_glb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12973334
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new file mode 100644
index 0000000000000000000000000000000000000000..f8849694a7b61bca6ccc094babc76dcd28bb330f
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diff --git a/ur5e_shadow_left/ur5e_shadow_right_hand_glb.usd b/ur5e_shadow_left/ur5e_shadow_right_hand_glb.usd
new file mode 100644
index 0000000000000000000000000000000000000000..29f8ff089eef085dd634fea86bdcfd8ab8c26242
--- /dev/null
+++ b/ur5e_shadow_left/ur5e_shadow_right_hand_glb.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40cdcfccde4851110c41edca529e62c8e0cb988c086f390f1e3de7e15014800
+size 12973234