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diff --git a/assets/bidex/open_ai_assets/LICENSE.md b/assets/bidex/open_ai_assets/LICENSE.md
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+# Fetch Robotics
+The model of the [Fetch](http://fetchrobotics.com/platforms-research-development/) is based on [models provided by Fetch](https://github.com/fetchrobotics/fetch_ros/tree/indigo-devel/fetch_description). It was adapted and refined by OpenAI.
+
+# ShadowHand
+The model of the [ShadowHand](https://www.shadowrobot.com/products/dexterous-hand/) is based on [models provided by ShadowRobot](https://github.com/shadow-robot/sr_common/tree/kinetic-devel/sr_description/hand/model), and on code used under the following license:
+
+(C) Vikash Kumar, CSE, UW. Licensed under 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.
+
+ Apache License
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+Additional license notices:
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+ Sources : 1) Manipulator and Manipulation in High Dimensional Spaces. Vikash Kumar, Ph.D. Thesis, CSE, Univ. of Washington. 2016.
+
+ Mujoco :: Advanced physics simulation engine
+ Source : www.roboti.us
+ Version : 1.40
+ Released : 17Jan'17
+
+ Author :: Vikash Kumar
+ Contacts : vikash@openai.com
+ Last edits : 3Apr'17
diff --git a/assets/bidex/open_ai_assets/README.md b/assets/bidex/open_ai_assets/README.md
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index 0000000000000000000000000000000000000000..13fd07f7c777f46084566357cd115aba794d0382
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/stl2obj.py
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+import trimesh
+import os
+import shutil
+
+def convert_stl_to_obj(stl_path, obj_path):
+ mesh = trimesh.load_mesh(stl_path)
+ mesh.export(obj_path)
+
+if __name__ == "__main__":
+ dir = "/home/fs/yizhuo/RoboVerse/roboverse_data/robots/franka_shadow_hand/mjcf/meshes"
+
+ for obj_file in os.listdir(dir):
+ if obj_file.endswith(".stl"):
+ stl_path = os.path.join(dir, obj_file)
+ obj_path = os.path.join(dir, obj_file.replace(".stl", ".obj"))
+ if os.path.exists(obj_path):
+ continue
+ convert_stl_to_obj(stl_path, obj_path)
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+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.stl b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.stl
new file mode 100644
index 0000000000000000000000000000000000000000..828ad3bd384b22ef734d8add0e50d6ae449dce9c
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.stl
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..705a6ddad1f577facb2eaba11bb98da41f8314e3
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl
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index 0000000000000000000000000000000000000000..2047756ec662f051af90fe61266998bf16e655fe
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..67e0b6ea26a003e50d17ba472f8a46f621d3cb79
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat
@@ -0,0 +1,5 @@
+REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx"
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..0b6fbb6b3f005de3ad10029906ede760f2ad6606
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx
@@ -0,0 +1,20 @@
+
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c7172ff4e24de694e8b4a1ee3d5d1ad3f39a6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat
@@ -0,0 +1,5 @@
+SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..a72957a82cc8db27f30115056e85ff4d797d5b99
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx
@@ -0,0 +1,4 @@
+
+
+
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0f3cd3760a313f1eca2b34e35b92afc75690e630
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0702e12ce796ca1949ca3bacb699dd526a29ab0c35e306019e58c5a4ff5879f5
+size 51124
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c63fce760e7eb0f931ff52eca03adb804d0aa744
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl
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+# Blender MTL File: 'None'
+# Material Count: 2
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+newmtl Part__Feature001_006
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj
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index 0000000000000000000000000000000000000000..71b83987ab63fe862481ef95d65eb26461ae4cea
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..404e91bf0b2f0ccd76f0097745c1177da36d00e1
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl
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index 0000000000000000000000000000000000000000..53ddbc0c254c77f94cd383daf5ec65cbc03d81b6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl
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+# Blender MTL File: 'None'
+# Material Count: 5
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+newmtl Part__Feature001_008_005
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj
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index 0000000000000000000000000000000000000000..d700f4cb2b19826472e68848aa685bdb91f550fd
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c572a8071796245b1d30dfff565e41c780ca711462884977ca3969b4baeecdd
+size 483975
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index 0000000000000000000000000000000000000000..828371b76891acce7c892b84af11dfcff4ccc3e5
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334b61fa1839d58dd1e23ab0cce7acfa4b377229d72ec6a93734eb6639aa039c
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl
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index 0000000000000000000000000000000000000000..c6a731a393e6eadaeb14c872e80649dc7b7a2e36
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 12
+
+newmtl Face636_001
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.obj
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index 0000000000000000000000000000000000000000..266488615dab71a096221eaa1aefb73e22708454
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..bb48ca2d3deaf14db3a84dff05d2060ddf2b4c81
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link1.dae
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link1.mtl
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+# Blender MTL File: 'None'
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link1.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link1.obj
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--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..0363e01b0ca22dc89e45b59085cbfd0637b837da
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link2.mtl
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+# Blender MTL File: 'None'
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link2.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link2.obj
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--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link3.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link3.obj
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diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..64a0e2cd9fe66dfa55f3b02acc6ba20e1c80b8e4
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
@@ -0,0 +1,893 @@
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diff --git a/robots/franka_shadow_hand/urdf/meshes/F1.dae b/robots/franka_shadow_hand/urdf/meshes/F1.dae
new file mode 100755
index 0000000000000000000000000000000000000000..fe3ef32714a452328985a0266dc785724d7d8937
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F1.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101b4e89f755a4df4673b3e4e05ddb4bc9997640b0dab7538e0717f2cd3cca3a
+size 30339
diff --git a/robots/franka_shadow_hand/urdf/meshes/F1.obj b/robots/franka_shadow_hand/urdf/meshes/F1.obj
new file mode 100755
index 0000000000000000000000000000000000000000..41ffe00a820be28f5d70f57abc8e1cd379bf6240
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7e0f492d9399b3e61911000a820f0a9916d632b6505018c5bd042351aecb3b
+size 18606
diff --git a/robots/franka_shadow_hand/urdf/meshes/F2.dae b/robots/franka_shadow_hand/urdf/meshes/F2.dae
new file mode 100755
index 0000000000000000000000000000000000000000..4a0dd6972e9e19ab867ee638677ad3fb9a0456ba
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48af72815b76601818d5797f088d69fb5695e1c81820a67c447abf5a11b389fd
+size 46979
diff --git a/robots/franka_shadow_hand/urdf/meshes/F2.obj b/robots/franka_shadow_hand/urdf/meshes/F2.obj
new file mode 100755
index 0000000000000000000000000000000000000000..2e97615d6b5392bee54d29ab58a317d5b351465d
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43be065da658740c9548ef5bbeb6c14054926874cc8ef6e1620f48a3944bddd
+size 25616
diff --git a/robots/franka_shadow_hand/urdf/meshes/F3.dae b/robots/franka_shadow_hand/urdf/meshes/F3.dae
new file mode 100755
index 0000000000000000000000000000000000000000..55938cb007907132d995ebf5812ea1968803b46e
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a962dd16dfb6662a178be9fb34bd2b4967c684971220039b962c965a8b1bef
+size 81010
diff --git a/robots/franka_shadow_hand/urdf/meshes/F3.obj b/robots/franka_shadow_hand/urdf/meshes/F3.obj
new file mode 100755
index 0000000000000000000000000000000000000000..b35a61de52453d5b56611a20e5d928a1f4f88523
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fae42f857aeb7417d7ef0540f0087139ae064cae9b717fc1f570ed2950aec45d
+size 64447
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..e866f4d90569dfc972eca7ef96c19d4ce3389060
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82720fa6c4b2ad038703e0ed1db4fd12f149e67ca9fd5cbb4961385ef6676a1c
+size 40833
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..e2ce5b632405338029f3b919b011cba3141e50a0
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6edf94156921358e6912743d05e5476894b815c39c766934a1190ad40713b0
+size 6300
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..4233c0f3b806d80acb50deb1a2f0de7c0f441ba6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10588fb109dffc4a13e657f4b7ee50d13a47cd5b268e0d31ed408649703bb42c
+size 116354
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..fcf66d85e8ba439a4e2e151dfc614ab5eff5093e
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957d7e442971185a035a995852b1f681f566da210377153ea920ce3e724da221
+size 74423
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..8221ee8f1f5def430d676862a559e542405f364a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069986aa8438a9dd105248d8263a4a3b7a3e1864d2a120ee25a70e2fd37e1043
+size 87821
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..11ed3414722d6227633edc79846d2c957e1fc359
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d6dc4f4676721e8ea3bed7c50e9819d18f71048e2d31ba78b2dfdceaeb3806
+size 23566
diff --git a/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae b/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae
new file mode 100755
index 0000000000000000000000000000000000000000..baaaad96d0c65a4fc8d57a7f140ce1eb87fafd0a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ad1c45713c94d3814ef5f6aefaa78ac137055b9bc125fb82a7a769c5b9e0f0
+size 227374
diff --git a/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae b/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae
new file mode 100755
index 0000000000000000000000000000000000000000..498b68067ca7c8a63074aad54c7346fe2d1957d5
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8671bb5be8c9ddf1a1d2b42895521e7463274ed3638e4290273a26af18acaa49
+size 856071
diff --git a/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py b/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py
new file mode 100755
index 0000000000000000000000000000000000000000..94cf6a817d1d2fd165ebdd45e8a05485abf9d21b
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py
@@ -0,0 +1,6 @@
+from pyassimp import *
+scene = load('F2.dae')
+
+print('loading the scene')
+release(scene)
+
diff --git a/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae
new file mode 100755
index 0000000000000000000000000000000000000000..f780049b715f6d5adacaaa86f8d82c0fac847e1f
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a1a0388fc561515914ce5891864cee312a8e2aafe009197aa240388f425dcf
+size 68635
diff --git a/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj
new file mode 100755
index 0000000000000000000000000000000000000000..4bb93d964483d2a5711282da478d3f847c23404a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cea9b8dfed62d678618e4a79420f31224ad546d78e3fce71aec8f8a7be09ec
+size 56989
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm.dae b/robots/franka_shadow_hand/urdf/meshes/forearm.dae
new file mode 100755
index 0000000000000000000000000000000000000000..f8308174c701d0b3afde00d8ae9df3c549a5f5b2
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4416710a2ceab0f0a5a8c90da1767beb19da6d5fb65480a4cd569042383fc539
+size 202078
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm.obj b/robots/franka_shadow_hand/urdf/meshes/forearm.obj
new file mode 100755
index 0000000000000000000000000000000000000000..4d5e3b6c4c95b46194b57311756f98ea29385252
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd16de6742ea41b3b6a10f232963dac8398e152895df12b0c394acde4dc5c18e
+size 144879
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.dae b/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.dae
new file mode 100755
index 0000000000000000000000000000000000000000..d05d3e5cd660c9c55e18d064b699ae236f601cc8
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7b1263656aff3a10282e2e92a51800ad6b94b563b23f5819ea1ba7875803338
+size 7115343
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.obj b/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.obj
new file mode 100755
index 0000000000000000000000000000000000000000..90d3082c74379e987c6623124a2e026995afa7e4
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm_muscle.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c672edaeab7d87a3a5e5cf755a746611cb3169b733dab33d770876d530b9c970
+size 9296357
diff --git a/robots/franka_shadow_hand/urdf/meshes/knuckle.dae b/robots/franka_shadow_hand/urdf/meshes/knuckle.dae
new file mode 100755
index 0000000000000000000000000000000000000000..54d9f530d5481928402661748f332bcb5cefe5ba
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/knuckle.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd409f914cac1dbe55d686a052efe0c59d50cf2376a62b16b3e6e4b6994d9379
+size 74586
diff --git a/robots/franka_shadow_hand/urdf/meshes/knuckle.obj b/robots/franka_shadow_hand/urdf/meshes/knuckle.obj
new file mode 100755
index 0000000000000000000000000000000000000000..be827cbb5bd17d05df296ecd5474f2ededa6b47c
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/knuckle.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2afbe059055cc6a8ac8cc76a977e3667b75e62e66b1ad5140f640b358ea6b49
+size 34343
diff --git a/robots/franka_shadow_hand/urdf/meshes/lfmetacarpal.dae b/robots/franka_shadow_hand/urdf/meshes/lfmetacarpal.dae
new file mode 100755
index 0000000000000000000000000000000000000000..9cb232f9ed94766fe4bf0f605ae3b887ab3e819a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/lfmetacarpal.dae
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diff --git a/robots/franka_shadow_hand/urdf/shadow_right.urdf b/robots/franka_shadow_hand/urdf/shadow_right.urdf
new file mode 100644
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diff --git a/robots/shadow_hand/LICENSE b/robots/shadow_hand/LICENSE
old mode 100644
new mode 100755
diff --git a/robots/shadow_hand/README.md b/robots/shadow_hand/README.md
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similarity index 100%
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rename to robots/shadow_hand/mjcf/shadow_hand.xml
diff --git a/robots/shadow_hand/mjcf/shadow_hand_left.xml b/robots/shadow_hand/mjcf/shadow_hand_left.xml
deleted file mode 100644
index 9facae2b0f088247016cdc362de367de242413d2..0000000000000000000000000000000000000000
--- a/robots/shadow_hand/mjcf/shadow_hand_left.xml
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diff --git a/robots/shadow_hand/stls/F1.stl b/robots/shadow_hand/stls/F1.stl
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diff --git a/robots/shadow_hand/stls/F3.stl b/robots/shadow_hand/stls/F3.stl
old mode 100644
new mode 100755
diff --git a/robots/shadow_hand/stls/TH1_z.stl b/robots/shadow_hand/stls/TH1_z.stl
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diff --git a/robots/shadow_hand/stls/TH3_z.stl b/robots/shadow_hand/stls/TH3_z.stl
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diff --git a/robots/shadow_hand/stls/forearm_electric.stl b/robots/shadow_hand/stls/forearm_electric.stl
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diff --git a/robots/shadow_hand/stls/forearm_electric_cvx.stl b/robots/shadow_hand/stls/forearm_electric_cvx.stl
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diff --git a/robots/shadow_hand/stls/knuckle.stl b/robots/shadow_hand/stls/knuckle.stl
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diff --git a/robots/shadow_hand/stls/wrist.stl b/robots/shadow_hand/stls/wrist.stl
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diff --git a/robots/shadow_hand/textures/block.png b/robots/shadow_hand/textures/block.png
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diff --git a/robots/shadow_hand/textures/block_hidden.png b/robots/shadow_hand/textures/block_hidden.png
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diff --git a/robots/shadow_hand/usd/shadow_hand.usd b/robots/shadow_hand/usd/shadow_hand.usd
new file mode 100755
index 0000000000000000000000000000000000000000..196e8612739d11c54b94949ab17b2550917ee8c2
--- /dev/null
+++ b/robots/shadow_hand/usd/shadow_hand.usd
@@ -0,0 +1,3 @@
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