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\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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+# Blender MTL File: 'None'
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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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@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.dae
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index 0000000000000000000000000000000000000000..d4a581fe2853b203489bc74038347a94d285a5c6
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2641ba86d89d980a4b0323f9c38c2c6741a7463ab6ba7d426ebfba91217d4cd0
+size 998587
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.mtl
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index 0000000000000000000000000000000000000000..e744af431bc45407685906204ba678ca3a26213b
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Part__Feature024
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj
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index 0000000000000000000000000000000000000000..19a9a5b3105740e3f7bdc6a081488bb59388eff6
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02da31df4f8f4d56a2ff5a745a264138f26e2cd43cbf6696f6329a6d3489e50
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link2.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.dae
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index 0000000000000000000000000000000000000000..1e7e7105c59e5ebca83ed0b0b8eda61cffe12f32
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152a575b9e8e66483daf8d4630f039673f83da4401c57f4951fd4f4599906f9d
+size 1099974
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.mtl
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+# Blender MTL File: 'None'
+# Material Count: 4
+
+newmtl Part__Feature001_010_001_002.001
+Ns -1.960784
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+newmtl Part__Feature002_007_001_002.001
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj
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index 0000000000000000000000000000000000000000..0bb6c1105eafa2bae9c8224edd3e2c21fe4f4ee2
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b129c2eabd4d060ad40a1442add2d419216f23ea57c029bc44ec241b24cf63df
+size 910167
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj.mtl
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index 0000000000000000000000000000000000000000..5ae883de063a2312fa88303e8e22d40c555caaef
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link3.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
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+newmtl material_1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.dae
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index 0000000000000000000000000000000000000000..2a83f8a2b790dcd192fe193f0921bd515848bf75
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ca4622569abc56c73fe0cefffa5df7bef4055a44f900f3bd5263ba1be94fb7
+size 1145814
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.mtl
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index 0000000000000000000000000000000000000000..1dc4477671c2d76407267f9c101964d10d4c9f4d
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.mtl
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+# Blender MTL File: 'None'
+# Material Count: 4
+
+newmtl Part__Feature001_001_003_001
+Ns -1.960784
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link4.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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+newmtl material_1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.dae
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.mtl
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+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl Part__Feature_002_004_003
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.obj
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link5.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link6.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link6.dae
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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/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link6.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link6.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link6.mtl
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+# Blender MTL File: 'None'
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+#
+# Wavefront material file
+# Converted by Meshlab Group
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.dae b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.dae
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.dae
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.mtl b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.mtl
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.mtl
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+# Blender MTL File: 'None'
+# Material Count: 8
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.obj
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/link7.obj.mtl
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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/train_gripper.obj b/robots/franka_with_gripper_extension/urdf/meshes/meshes_franka_with_gripper_extensions/visual/train_gripper.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/robots/franka_with_gripper_extension/urdf/meshes/visual/finger.mtl
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+# Blender MTL File: 'None'
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+
+newmtl Part__Feature001_006
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+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/finger.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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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/hand.mtl
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+# Blender MTL File: 'None'
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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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@@ -0,0 +1,3 @@
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link0.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link0.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ec47357c18d05bea4099007cdc1ae6b00c1ccc14
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link0.obj.mtl
@@ -0,0 +1,29 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.901961 0.921569 0.929412
+Ks 1.000000 1.000000 1.000000
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+illum 2
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+newmtl material_1
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+Ks 1.000000 1.000000 1.000000
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+illum 2
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+
+newmtl material_2
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+Kd 1.000000 1.000000 1.000000
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+Tr 1.000000
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+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f229541754afb6e8bc547aa0185afcff5821deb7
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b831bdbef18850067af86373484591cc1bfdeaafa15fad3d74a6c3c0d3e2d3
+size 978516
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef1b5c86d631ad445756e149f0cf2835c50619ab
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Part__Feature_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.062500 0.062500 0.062500
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42c8a8470659a889f49701f36d19d4e58a45b7b
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43cfacefee7beaeb83c07747cda20643fc32d73702acd19e688dda4a3693cdcd
+size 777412
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9a3cb877230c55d40ce0b862126e61d96d4b634
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link1.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
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+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..d4a581fe2853b203489bc74038347a94d285a5c6
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2641ba86d89d980a4b0323f9c38c2c6741a7463ab6ba7d426ebfba91217d4cd0
+size 998587
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e744af431bc45407685906204ba678ca3a26213b
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Part__Feature024
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.125000 0.125000 0.125000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..19a9a5b3105740e3f7bdc6a081488bb59388eff6
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02da31df4f8f4d56a2ff5a745a264138f26e2cd43cbf6696f6329a6d3489e50
+size 783731
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9a3cb877230c55d40ce0b862126e61d96d4b634
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link2.obj.mtl
@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..1e7e7105c59e5ebca83ed0b0b8eda61cffe12f32
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:152a575b9e8e66483daf8d4630f039673f83da4401c57f4951fd4f4599906f9d
+size 1099974
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..83b6a89f82a62be3d7bb4e5a6cd65288319a1ad0
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.mtl
@@ -0,0 +1,42 @@
+# Blender MTL File: 'None'
+# Material Count: 4
+
+newmtl Part__Feature001_010_001_002.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
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+newmtl Part__Feature002_007_001_002.001
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+Ns -1.960784
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+Kd 1.000000 1.000000 1.000000
+Ks 0.007812 0.007812 0.007812
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature_001_001_001_002.001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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+illum 2
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb6c1105eafa2bae9c8224edd3e2c21fe4f4ee2
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b129c2eabd4d060ad40a1442add2d419216f23ea57c029bc44ec241b24cf63df
+size 910167
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ae883de063a2312fa88303e8e22d40c555caaef
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link3.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
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+
+newmtl material_1
+Ka 0.200000 0.200000 0.200000
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+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
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+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..2a83f8a2b790dcd192fe193f0921bd515848bf75
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ca4622569abc56c73fe0cefffa5df7bef4055a44f900f3bd5263ba1be94fb7
+size 1145814
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1dc4477671c2d76407267f9c101964d10d4c9f4d
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.mtl
@@ -0,0 +1,42 @@
+# Blender MTL File: 'None'
+# Material Count: 4
+
+newmtl Part__Feature001_001_003_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+newmtl Part__Feature002_001_003_001
+Ns -1.960784
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0b594233980038e26f2e6ef708418c01586b5218
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d93e9c9295160c851afd8c1acb9ad75cb339ebe4e67de26e28899bdebb1ace0b
+size 939686
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5ae883de063a2312fa88303e8e22d40c555caaef
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link4.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
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+newmtl material_1
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+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f09ab111e4bd4fc69d2eaca85f024c14d295a437
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0e0f9db62856a0dd19217a4d4299e0ee779e7d42fe2c7d95b6a8c3185244de
+size 1438422
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36bba54a13d6b0e57765578e06e25a1f7bfeea4c
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.mtl
@@ -0,0 +1,32 @@
+# Blender MTL File: 'None'
+# Material Count: 3
+
+newmtl Part__Feature_002_004_003
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+Ka 1.000000 1.000000 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36212884dca2cacc2722dde4fa62a3da8c77810f
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e7f36363c00285df9d325c41b2e1fc83602bf509
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link5.obj.mtl
@@ -0,0 +1,21 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
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+newmtl material_1
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+
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.dae
new file mode 100644
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1729056
diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.mtl
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.mtl
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+# Blender MTL File: 'None'
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+
+newmtl Face064_002_001_002_001
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef431a9f763ce45ec48c3bf1f705b1ea9584eea6
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..60948b09d773fc8f0e937616c85c0091c437462c
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link6.obj.mtl
@@ -0,0 +1,53 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
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+
+newmtl material_0
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.dae b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.dae
new file mode 100644
index 0000000000000000000000000000000000000000..6a69b11bdc8a5840b02abd6c49f54620d7dd6999
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52366ba564901070e2ee1173644528071ab6d7fb
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.mtl
@@ -0,0 +1,82 @@
+# Blender MTL File: 'None'
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69dad3a16f79bfea3cf8ae7f89e65981f94e1ec
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj.mtl b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8184031fe90aafea2302d7400f3bc224c2a36fbf
--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/link7.obj.mtl
@@ -0,0 +1,29 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
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+newmtl material_1
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+newmtl material_2
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+Ks 1.000000 1.000000 1.000000
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diff --git a/robots/franka_with_gripper_extension/urdf/meshes/visual/train_gripper.obj b/robots/franka_with_gripper_extension/urdf/meshes/visual/train_gripper.obj
new file mode 100644
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/urdf/meshes/visual/train_gripper.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_with_gripper_extension/usd/franka_with_gripper_extension_v1.usd b/robots/franka_with_gripper_extension/usd/franka_with_gripper_extension_v1.usd
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--- /dev/null
+++ b/robots/franka_with_gripper_extension/usd/franka_with_gripper_extension_v1.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/sawyer/README.md b/robots/sawyer/README.md
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--- /dev/null
+++ b/robots/sawyer/README.md
@@ -0,0 +1,7 @@
+`sawyer_v1.usd` is converted from urdf file using `python third_party/curobo/examples/isaac_sim/util/convert_urdf_to_usd.py --robot third_party/curobo/src/curobo/content/configs/robot/sawyer.yml --save_usd`. The urdf file is from Haoran Lu.
+
+`sawyer_v2.usd` is modified from `sawyer_v1.usd` by deleting some unnecessary links and collisions.
+
+`sawywer_mujoco_v1.usd` is modified from `sawyer_v2.usd` by deleting the `head`, `screen`, and `sawyer_head_camera` links.
+
+`sawyer_mujoco_v2.usd` is modified from `sawyer_mujoco_v1.usd` by deleting the gripper tip shims (`right_gripper_l_finger_tip` and `right_gripper_r_finger_tip`).
diff --git a/robots/sawyer/mjcf/assets/base.stl b/robots/sawyer/mjcf/assets/base.stl
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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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diff --git a/robots/sawyer/mjcf/assets/pedestal.stl b/robots/sawyer/mjcf/assets/pedestal.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/sawyer/mjcf/sawyer.xml b/robots/sawyer/mjcf/sawyer.xml
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diff --git a/robots/sawyer/usd/sawyer_mujoco_v2.usd b/robots/sawyer/usd/sawyer_mujoco_v2.usd
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