diff --git a/robots/franka/mjcf/LICENSE b/robots/franka/mjcf/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d9a10c0d8e868ebf8da0b3dc95bb0be634c34bfe
--- /dev/null
+++ b/robots/franka/mjcf/LICENSE
@@ -0,0 +1,176 @@
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diff --git a/robots/franka/mjcf/README.md b/robots/franka/mjcf/README.md
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--- /dev/null
+++ b/robots/franka/mjcf/README.md
@@ -0,0 +1,61 @@
+Files in this folder are modified from [mujoco_menagerie](https://github.com/google-deepmind/mujoco_menagerie/tree/main/franka_emika_panda). The modifications are renaming the joint names to be consistent with the URDF file in `urdf` folder and the USD file in `usd` folder.
+
+Below is the original README from the `mujoco_menagerie` repo:
+
+# Franka Emika Panda Description (MJCF)
+
+Requires MuJoCo 2.3.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Franka Emika
+Panda](https://www.franka.de/) developed by [Franka
+Emika](https://www.franka.de/company). It is derived from the [publicly
+available URDF
+description](https://github.com/frankaemika/franka_ros/tree/develop/franka_description).
+
+<p float="left">
+  <img src="panda.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/visual)
+   to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Eliminated the perfectly flat `link0_6` from the resulting submeshes created for `link0`.
+4. Created a convex decomposition of the STL collision [mesh
+   file](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/collision)
+   for `link5` using [V-HACD](https://github.com/kmammou/v-hacd).
+5. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
+   [URDF](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/robots)'s
+   `<robot>` clause in order to preserve visual geometries.
+6. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+7. Matched inertial parameters with [inertial.yaml](
+   https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml).
+8. Added a tracking light to the base.
+9. Manually edited the MJCF to extract common properties into the `<default>` section.
+10. Added `<exclude>` clauses to prevent collisions between `link7` and `link8`.
+11. Manually designed collision geoms for the fingertips.
+12. Added position-controlled actuators for the arm.
+13. Added an equality constraint so that the left finger mimics the position of the right finger.
+14. Added a tendon to split the force equally between both fingers and a
+    position actuator acting on this tendon.
+15. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+### MJX
+
+A version of the Franka Emika Panda environment was created for MJX. Steps:
+
+1. Added `mjx_panda.xml`, forked from `panda.xml`.
+2. Added `mjx_scene.xml` and `mjx_single_cube.xml`, forked from `scene.xml`.
+3. Gripper collision geometries were modified to contain less geoms. A capsule collision geom was added to the hand.
+4. Solver parameters were tuned for performance.
+5. Actuator `kp` and `kv` were reduced for more stable simulation.
+6. Added a `site` to the gripper.
+7. Removed tendon and added position actuator for the gripper. Changed gripper `ctrlrange`.
+
+## License
+
+This model is released under an [Apache-2.0 License](LICENSE).
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+size 226402
diff --git a/robots/franka/mjcf/assets/link7_6.obj b/robots/franka/mjcf/assets/link7_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8613d361719f3ade8c6e9b7c2eeafd3ec5e9d3dc
--- /dev/null
+++ b/robots/franka/mjcf/assets/link7_6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99469e2d95ab74ce0292f2f16954c87a8a7dc16652e62e970fe37c94330a81bb
+size 99900
diff --git a/robots/franka/mjcf/assets/link7_7.obj b/robots/franka/mjcf/assets/link7_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950e51eb7239a9c6ea6b72c20b7060c2928cf04c
--- /dev/null
+++ b/robots/franka/mjcf/assets/link7_7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426c3db8a19373f3dc73d4bec672e948121b2914c10e2e7b9c7ea80643a19e54
+size 792162
diff --git a/robots/franka/mjcf/hand.xml b/robots/franka/mjcf/hand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b386048ef08f0ddb93a5f902efb09865be89af5f
--- /dev/null
+++ b/robots/franka/mjcf/hand.xml
@@ -0,0 +1,114 @@
+<mujoco model="panda hand">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+        <default class="fingertip_pad_collision_1">
+          <geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
+        </default>
+        <default class="fingertip_pad_collision_2">
+          <geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_3">
+          <geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_4">
+          <geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
+        </default>
+        <default class="fingertip_pad_collision_5">
+          <geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="hand_c" file="hand.stl"/>
+
+    <!-- Visual meshes -->
+    <mesh file="hand_0.obj"/>
+    <mesh file="hand_1.obj"/>
+    <mesh file="hand_2.obj"/>
+    <mesh file="hand_3.obj"/>
+    <mesh file="hand_4.obj"/>
+    <mesh file="finger_0.obj"/>
+    <mesh file="finger_1.obj"/>
+  </asset>
+
+  <worldbody>
+    <body name="hand" childclass="panda" quat="0 0 0 1">
+      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+      <geom mesh="hand_0" material="off_white" class="visual"/>
+      <geom mesh="hand_1" material="black" class="visual"/>
+      <geom mesh="hand_2" material="black" class="visual"/>
+      <geom mesh="hand_3" material="white" class="visual"/>
+      <geom mesh="hand_4" material="off_white" class="visual"/>
+      <geom mesh="hand_c" class="collision"/>
+      <body name="left_finger" pos="0 0 0.0584">
+        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+        <joint name="finger_joint1" class="finger"/>
+        <geom mesh="finger_0" material="off_white" class="visual"/>
+        <geom mesh="finger_1" material="black" class="visual"/>
+        <geom mesh="finger_0" class="collision"/>
+        <geom class="fingertip_pad_collision_1"/>
+        <geom class="fingertip_pad_collision_2"/>
+        <geom class="fingertip_pad_collision_3"/>
+        <geom class="fingertip_pad_collision_4"/>
+        <geom class="fingertip_pad_collision_5"/>
+      </body>
+      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+        <joint name="finger_joint2" class="finger"/>
+        <geom mesh="finger_0" material="off_white" class="visual"/>
+        <geom mesh="finger_1" material="black" class="visual"/>
+        <geom mesh="finger_0" class="collision"/>
+        <geom class="fingertip_pad_collision_1"/>
+        <geom class="fingertip_pad_collision_2"/>
+        <geom class="fingertip_pad_collision_3"/>
+        <geom class="fingertip_pad_collision_4"/>
+        <geom class="fingertip_pad_collision_5"/>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="hand" body2="left_finger"/>
+    <exclude body1="hand" body2="right_finger"/>
+  </contact>
+
+  <tendon>
+    <fixed name="split">
+      <joint joint="finger_joint1" coef="0.5"/>
+      <joint joint="finger_joint2" coef="0.5"/>
+    </fixed>
+  </tendon>
+
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+
+  <actuator>
+    <!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
+    <general class="panda" name="actuator8" tendon="split" forcerange="-100 100" ctrlrange="0 255"
+      gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
+  </actuator>
+</mujoco>
diff --git a/robots/franka/mjcf/mjx_panda.xml b/robots/franka/mjcf/mjx_panda.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed096f366d9c39d71c6a6abec46b911dfe6843a8
--- /dev/null
+++ b/robots/franka/mjcf/mjx_panda.xml
@@ -0,0 +1,276 @@
+<mujoco model="panda">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <position forcerange="-100 100"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh" contype="0" conaffinity="0"/>
+        <default class="primitive_collision">
+          <geom group="3" type="box" contype="0" conaffinity="0"
+           condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
+          <default class="fingertip_pad_collision_1">
+            <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
+          </default>
+          <default class="fingertip_pad_collision_2">
+            <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
+          </default>
+          <default class="fingertip_pad_collision_3">
+            <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
+          </default>
+          <default class="fingertip_pad_collision_4">
+            <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
+          </default>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="link0.stl"/>
+    <mesh name="link1_c" file="link1.stl"/>
+    <mesh name="link2_c" file="link2.stl"/>
+    <mesh name="link3_c" file="link3.stl"/>
+    <mesh name="link4_c" file="link4.stl"/>
+    <mesh name="link5_c0" file="link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="link5_collision_2.obj"/>
+    <mesh name="link6_c" file="link6.stl"/>
+    <mesh name="link7_c" file="link7.stl"/>
+    <mesh name="hand_c" file="hand.stl"/>
+
+    <!-- Visual meshes -->
+    <mesh file="link0_0.obj"/>
+    <mesh file="link0_1.obj"/>
+    <mesh file="link0_2.obj"/>
+    <mesh file="link0_3.obj"/>
+    <mesh file="link0_4.obj"/>
+    <mesh file="link0_5.obj"/>
+    <mesh file="link0_7.obj"/>
+    <mesh file="link0_8.obj"/>
+    <mesh file="link0_9.obj"/>
+    <mesh file="link0_10.obj"/>
+    <mesh file="link0_11.obj"/>
+    <mesh file="link1.obj"/>
+    <mesh file="link2.obj"/>
+    <mesh file="link3_0.obj"/>
+    <mesh file="link3_1.obj"/>
+    <mesh file="link3_2.obj"/>
+    <mesh file="link3_3.obj"/>
+    <mesh file="link4_0.obj"/>
+    <mesh file="link4_1.obj"/>
+    <mesh file="link4_2.obj"/>
+    <mesh file="link4_3.obj"/>
+    <mesh file="link5_0.obj"/>
+    <mesh file="link5_1.obj"/>
+    <mesh file="link5_2.obj"/>
+    <mesh file="link6_0.obj"/>
+    <mesh file="link6_1.obj"/>
+    <mesh file="link6_2.obj"/>
+    <mesh file="link6_3.obj"/>
+    <mesh file="link6_4.obj"/>
+    <mesh file="link6_5.obj"/>
+    <mesh file="link6_6.obj"/>
+    <mesh file="link6_7.obj"/>
+    <mesh file="link6_8.obj"/>
+    <mesh file="link6_9.obj"/>
+    <mesh file="link6_10.obj"/>
+    <mesh file="link6_11.obj"/>
+    <mesh file="link6_12.obj"/>
+    <mesh file="link6_13.obj"/>
+    <mesh file="link6_14.obj"/>
+    <mesh file="link6_15.obj"/>
+    <mesh file="link6_16.obj"/>
+    <mesh file="link7_0.obj"/>
+    <mesh file="link7_1.obj"/>
+    <mesh file="link7_2.obj"/>
+    <mesh file="link7_3.obj"/>
+    <mesh file="link7_4.obj"/>
+    <mesh file="link7_5.obj"/>
+    <mesh file="link7_6.obj"/>
+    <mesh file="link7_7.obj"/>
+    <mesh file="hand_0.obj"/>
+    <mesh file="hand_1.obj"/>
+    <mesh file="hand_2.obj"/>
+    <mesh file="hand_3.obj"/>
+    <mesh file="hand_4.obj"/>
+    <mesh file="finger_0.obj"/>
+    <mesh file="finger_1.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_0" material="off_white" class="visual"/>
+      <geom mesh="link0_1" material="black" class="visual"/>
+      <geom mesh="link0_2" material="off_white" class="visual"/>
+      <geom mesh="link0_3" material="black" class="visual"/>
+      <geom mesh="link0_4" material="off_white" class="visual"/>
+      <geom mesh="link0_5" material="black" class="visual"/>
+      <geom mesh="link0_7" material="white" class="visual"/>
+      <geom mesh="link0_8" material="white" class="visual"/>
+      <geom mesh="link0_9" material="black" class="visual"/>
+      <geom mesh="link0_10" material="off_white" class="visual"/>
+      <geom mesh="link0_11" material="white" class="visual"/>
+      <geom mesh="link0_c" class="collision"/>
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="joint1" damping="40"/>
+        <geom material="white" mesh="link1" class="visual"/>
+        <geom mesh="link1_c" class="collision"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="joint2" range="-1.7628 1.7628" damping="40"/>
+          <geom material="white" mesh="link2" class="visual"/>
+          <geom mesh="link2_c" class="collision"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" damping="40"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_0" material="white" class="visual"/>
+            <geom mesh="link3_1" material="white" class="visual"/>
+            <geom mesh="link3_2" material="white" class="visual"/>
+            <geom mesh="link3_3" material="black" class="visual"/>
+            <geom mesh="link3_c" class="collision"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="joint4" range="-3.0718 -0.0698" damping="40"/>
+              <geom mesh="link4_0" material="white" class="visual"/>
+              <geom mesh="link4_1" material="white" class="visual"/>
+              <geom mesh="link4_2" material="black" class="visual"/>
+              <geom mesh="link4_3" material="white" class="visual"/>
+              <geom mesh="link4_c" class="collision"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="joint5" damping="2"/>
+                <geom mesh="link5_0" material="black" class="visual"/>
+                <geom mesh="link5_1" material="white" class="visual"/>
+                <geom mesh="link5_2" material="white" class="visual"/>
+                <geom mesh="link5_c0" class="collision"/>
+                <geom mesh="link5_c1" class="collision"/>
+                <geom mesh="link5_c2" class="collision"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="joint6" range="-0.0175 3.7525" damping="2"/>
+                  <geom mesh="link6_0" material="off_white" class="visual"/>
+                  <geom mesh="link6_1" material="white" class="visual"/>
+                  <geom mesh="link6_2" material="black" class="visual"/>
+                  <geom mesh="link6_3" material="white" class="visual"/>
+                  <geom mesh="link6_4" material="white" class="visual"/>
+                  <geom mesh="link6_5" material="white" class="visual"/>
+                  <geom mesh="link6_6" material="white" class="visual"/>
+                  <geom mesh="link6_7" material="light_blue" class="visual"/>
+                  <geom mesh="link6_8" material="light_blue" class="visual"/>
+                  <geom mesh="link6_9" material="black" class="visual"/>
+                  <geom mesh="link6_10" material="black" class="visual"/>
+                  <geom mesh="link6_11" material="white" class="visual"/>
+                  <geom mesh="link6_12" material="green" class="visual"/>
+                  <geom mesh="link6_13" material="white" class="visual"/>
+                  <geom mesh="link6_14" material="black" class="visual"/>
+                  <geom mesh="link6_15" material="black" class="visual"/>
+                  <geom mesh="link6_16" material="white" class="visual"/>
+                  <geom mesh="link6_c" class="collision"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="joint7" damping="2"/>
+                    <geom mesh="link7_0" material="white" class="visual"/>
+                    <geom mesh="link7_1" material="black" class="visual"/>
+                    <geom mesh="link7_2" material="black" class="visual"/>
+                    <geom mesh="link7_3" material="black" class="visual"/>
+                    <geom mesh="link7_4" material="black" class="visual"/>
+                    <geom mesh="link7_5" material="black" class="visual"/>
+                    <geom mesh="link7_6" material="black" class="visual"/>
+                    <geom mesh="link7_7" material="white" class="visual"/>
+                    <geom mesh="link7_c" class="collision"/>
+                    <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
+                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+                      <geom mesh="hand_0" material="off_white" class="visual"/>
+                      <geom mesh="hand_1" material="black" class="visual"/>
+                      <geom mesh="hand_2" material="black" class="visual"/>
+                      <geom mesh="hand_3" material="white" class="visual"/>
+                      <geom mesh="hand_4" material="off_white" class="visual"/>
+                      <geom mesh="hand_c" class="collision"/>
+                      <geom name="hand_capsule" type="capsule"
+                       class="collision" conaffinity="1" size="0.04 0.06"
+                       quat="1 1 0 0" pos="0 0 0.03"/>
+                      <site name="gripper" pos="0 0 0.1"/>
+                      <body name="left_finger" pos="0 0 0.0584">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint1" class="finger" damping="10"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
+                      </body>
+                      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint2" class="finger" damping="10"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+
+  <actuator>
+    <position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
+     ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
+     ctrlrange="-1.7628 1.7628"/>
+    <position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
+     ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
+     ctrlrange="-3.0718 -0.0698"/>
+    <position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
+     forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
+      ctrlrange="-0.0175 3.7525"/>
+    <position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
+    <general class="panda" name="actuator8" joint="finger_joint1"
+     ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
+  </actuator>
+</mujoco>
diff --git a/robots/franka/mjcf/mjx_scene.xml b/robots/franka/mjcf/mjx_scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..71b6202c18f2665b26f611f8a592dc15ad079fee
--- /dev/null
+++ b/robots/franka/mjcf/mjx_scene.xml
@@ -0,0 +1,32 @@
+<mujoco model="panda scene">
+  <include file="mjx_panda.xml"/>
+
+  <statistic center="0.3 0 0.4" extent="1"/>
+
+  <option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <custom>
+    <numeric data="12" name="max_contact_points"/>
+  </custom>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+    <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1"/>
+  </worldbody>
+</mujoco>
diff --git a/robots/franka/mjcf/mjx_single_cube.xml b/robots/franka/mjcf/mjx_single_cube.xml
new file mode 100644
index 0000000000000000000000000000000000000000..47e6ac1e4b577e1d3e259ec1a4ad44ad7369c88d
--- /dev/null
+++ b/robots/franka/mjcf/mjx_single_cube.xml
@@ -0,0 +1,26 @@
+<mujoco model="panda scene">
+  <include file="mjx_scene.xml"/>
+
+  <worldbody>
+    <body name="box" pos="0.5 0 0.03">
+      <freejoint/>
+      <geom type="box" name="box" size="0.02 0.02 0.03" condim="3"
+       friction="1 .03 .003" rgba="0 1 0 1" contype="2" conaffinity="1" solref="0.01 1"/>
+    </body>
+    <body mocap="true" name="mocap_target">
+      <geom type="box" size="0.02 0.02 0.03" rgba="1 0 0 0.2" contype="0" conaffinity="0"/>
+    </body>
+  </worldbody>
+
+  <keyframe>
+    <key name="home"
+      qpos="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04 0.04 0.7 0 0.03 1 0 0 0"
+      ctrl="0 0.3 0 -1.57079 0 2.0 -0.7853 0.04"/>
+    <key name="pickup"
+      qpos="0.2897 0.50732 -0.140016 -2.176 -0.0310497 2.51592 -0.49251 0.04 0.0399982 0.511684 0.0645413 0.0298665 0.665781 2.76848e-17 -2.27527e-17 -0.746147"
+      ctrl="0.2897 0.423 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/>
+    <key name="pickup1"
+      qpos='0.2897 0.496673 -0.142836 -2.14746 -0.0295746 2.52378 -0.492496 0.04 0.0399988 0.529553 0.0731702 0.0299388 0.94209 8.84613e-06 -4.97524e-06 -0.335361'
+      ctrl="0.2897 0.458 -0.144392 -2.13105 -0.0291743 2.52586 -0.492492 0.04"/>
+  </keyframe>
+</mujoco>
diff --git a/robots/franka/mjcf/panda.png b/robots/franka/mjcf/panda.png
new file mode 100644
index 0000000000000000000000000000000000000000..bbc041271157ea47ca4cb9db66b5b01e1fac09e7
--- /dev/null
+++ b/robots/franka/mjcf/panda.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6ad5fcfc60237f0f006cf22d6e0b70febb559f609d915cd4316e9f1ad383c2d
+size 2192427
diff --git a/robots/franka/mjcf/panda.xml b/robots/franka/mjcf/panda.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b1e7fa41ca692a2372ebcb035b5aba7fcc486b3b
--- /dev/null
+++ b/robots/franka/mjcf/panda.xml
@@ -0,0 +1,271 @@
+<mujoco model="franka">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+        <default class="fingertip_pad_collision_1">
+          <geom type="box" size="0.0085 0.004 0.0085" pos="0 0.0055 0.0445"/>
+        </default>
+        <default class="fingertip_pad_collision_2">
+          <geom type="box" size="0.003 0.002 0.003" pos="0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_3">
+          <geom type="box" size="0.003 0.002 0.003" pos="-0.0055 0.002 0.05"/>
+        </default>
+        <default class="fingertip_pad_collision_4">
+          <geom type="box" size="0.003 0.002 0.0035" pos="0.0055 0.002 0.0395"/>
+        </default>
+        <default class="fingertip_pad_collision_5">
+          <geom type="box" size="0.003 0.002 0.0035" pos="-0.0055 0.002 0.0395"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="link0.stl"/>
+    <mesh name="link1_c" file="link1.stl"/>
+    <mesh name="link2_c" file="link2.stl"/>
+    <mesh name="link3_c" file="link3.stl"/>
+    <mesh name="link4_c" file="link4.stl"/>
+    <mesh name="link5_c0" file="link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="link5_collision_2.obj"/>
+    <mesh name="link6_c" file="link6.stl"/>
+    <mesh name="link7_c" file="link7.stl"/>
+    <mesh name="hand_c" file="hand.stl"/>
+
+    <!-- Visual meshes -->
+    <mesh file="link0_0.obj"/>
+    <mesh file="link0_1.obj"/>
+    <mesh file="link0_2.obj"/>
+    <mesh file="link0_3.obj"/>
+    <mesh file="link0_4.obj"/>
+    <mesh file="link0_5.obj"/>
+    <mesh file="link0_7.obj"/>
+    <mesh file="link0_8.obj"/>
+    <mesh file="link0_9.obj"/>
+    <mesh file="link0_10.obj"/>
+    <mesh file="link0_11.obj"/>
+    <mesh file="link1.obj"/>
+    <mesh file="link2.obj"/>
+    <mesh file="link3_0.obj"/>
+    <mesh file="link3_1.obj"/>
+    <mesh file="link3_2.obj"/>
+    <mesh file="link3_3.obj"/>
+    <mesh file="link4_0.obj"/>
+    <mesh file="link4_1.obj"/>
+    <mesh file="link4_2.obj"/>
+    <mesh file="link4_3.obj"/>
+    <mesh file="link5_0.obj"/>
+    <mesh file="link5_1.obj"/>
+    <mesh file="link5_2.obj"/>
+    <mesh file="link6_0.obj"/>
+    <mesh file="link6_1.obj"/>
+    <mesh file="link6_2.obj"/>
+    <mesh file="link6_3.obj"/>
+    <mesh file="link6_4.obj"/>
+    <mesh file="link6_5.obj"/>
+    <mesh file="link6_6.obj"/>
+    <mesh file="link6_7.obj"/>
+    <mesh file="link6_8.obj"/>
+    <mesh file="link6_9.obj"/>
+    <mesh file="link6_10.obj"/>
+    <mesh file="link6_11.obj"/>
+    <mesh file="link6_12.obj"/>
+    <mesh file="link6_13.obj"/>
+    <mesh file="link6_14.obj"/>
+    <mesh file="link6_15.obj"/>
+    <mesh file="link6_16.obj"/>
+    <mesh file="link7_0.obj"/>
+    <mesh file="link7_1.obj"/>
+    <mesh file="link7_2.obj"/>
+    <mesh file="link7_3.obj"/>
+    <mesh file="link7_4.obj"/>
+    <mesh file="link7_5.obj"/>
+    <mesh file="link7_6.obj"/>
+    <mesh file="link7_7.obj"/>
+    <mesh file="hand_0.obj"/>
+    <mesh file="hand_1.obj"/>
+    <mesh file="hand_2.obj"/>
+    <mesh file="hand_3.obj"/>
+    <mesh file="hand_4.obj"/>
+    <mesh file="finger_0.obj"/>
+    <mesh file="finger_1.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_0" material="off_white" class="visual"/>
+      <geom mesh="link0_1" material="black" class="visual"/>
+      <geom mesh="link0_2" material="off_white" class="visual"/>
+      <geom mesh="link0_3" material="black" class="visual"/>
+      <geom mesh="link0_4" material="off_white" class="visual"/>
+      <geom mesh="link0_5" material="black" class="visual"/>
+      <geom mesh="link0_7" material="white" class="visual"/>
+      <geom mesh="link0_8" material="white" class="visual"/>
+      <geom mesh="link0_9" material="black" class="visual"/>
+      <geom mesh="link0_10" material="off_white" class="visual"/>
+      <geom mesh="link0_11" material="white" class="visual"/>
+      <geom mesh="link0_c" class="collision"/>
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="panda_joint1"/>
+        <geom material="white" mesh="link1" class="visual"/>
+        <geom mesh="link1_c" class="collision"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="panda_joint2" range="-1.7628 1.7628"/>
+          <geom material="white" mesh="link2" class="visual"/>
+          <geom mesh="link2_c" class="collision"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="panda_joint3"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_0" material="white" class="visual"/>
+            <geom mesh="link3_1" material="white" class="visual"/>
+            <geom mesh="link3_2" material="white" class="visual"/>
+            <geom mesh="link3_3" material="black" class="visual"/>
+            <geom mesh="link3_c" class="collision"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="panda_joint4" range="-3.0718 -0.0698"/>
+              <geom mesh="link4_0" material="white" class="visual"/>
+              <geom mesh="link4_1" material="white" class="visual"/>
+              <geom mesh="link4_2" material="black" class="visual"/>
+              <geom mesh="link4_3" material="white" class="visual"/>
+              <geom mesh="link4_c" class="collision"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="panda_joint5"/>
+                <geom mesh="link5_0" material="black" class="visual"/>
+                <geom mesh="link5_1" material="white" class="visual"/>
+                <geom mesh="link5_2" material="white" class="visual"/>
+                <geom mesh="link5_c0" class="collision"/>
+                <geom mesh="link5_c1" class="collision"/>
+                <geom mesh="link5_c2" class="collision"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="panda_joint6" range="-0.0175 3.7525"/>
+                  <geom mesh="link6_0" material="off_white" class="visual"/>
+                  <geom mesh="link6_1" material="white" class="visual"/>
+                  <geom mesh="link6_2" material="black" class="visual"/>
+                  <geom mesh="link6_3" material="white" class="visual"/>
+                  <geom mesh="link6_4" material="white" class="visual"/>
+                  <geom mesh="link6_5" material="white" class="visual"/>
+                  <geom mesh="link6_6" material="white" class="visual"/>
+                  <geom mesh="link6_7" material="light_blue" class="visual"/>
+                  <geom mesh="link6_8" material="light_blue" class="visual"/>
+                  <geom mesh="link6_9" material="black" class="visual"/>
+                  <geom mesh="link6_10" material="black" class="visual"/>
+                  <geom mesh="link6_11" material="white" class="visual"/>
+                  <geom mesh="link6_12" material="green" class="visual"/>
+                  <geom mesh="link6_13" material="white" class="visual"/>
+                  <geom mesh="link6_14" material="black" class="visual"/>
+                  <geom mesh="link6_15" material="black" class="visual"/>
+                  <geom mesh="link6_16" material="white" class="visual"/>
+                  <geom mesh="link6_c" class="collision"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="panda_joint7"/>
+                    <geom mesh="link7_0" material="white" class="visual"/>
+                    <geom mesh="link7_1" material="black" class="visual"/>
+                    <geom mesh="link7_2" material="black" class="visual"/>
+                    <geom mesh="link7_3" material="black" class="visual"/>
+                    <geom mesh="link7_4" material="black" class="visual"/>
+                    <geom mesh="link7_5" material="black" class="visual"/>
+                    <geom mesh="link7_6" material="black" class="visual"/>
+                    <geom mesh="link7_7" material="white" class="visual"/>
+                    <geom mesh="link7_c" class="collision"/>
+                    <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
+                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+                      <geom mesh="hand_0" material="off_white" class="visual"/>
+                      <geom mesh="hand_1" material="black" class="visual"/>
+                      <geom mesh="hand_2" material="black" class="visual"/>
+                      <geom mesh="hand_3" material="white" class="visual"/>
+                      <geom mesh="hand_4" material="off_white" class="visual"/>
+                      <geom mesh="hand_c" class="collision"/>
+                      <body name="left_finger" pos="0 0 0.0584">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="panda_finger_joint1" class="finger"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom class="fingertip_pad_collision_4"/>
+                        <geom class="fingertip_pad_collision_5"/>
+                      </body>
+                      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="panda_finger_joint2" class="finger"/>
+                        <geom mesh="finger_0" material="off_white" class="visual"/>
+                        <geom mesh="finger_1" material="black" class="visual"/>
+                        <geom mesh="finger_0" class="collision"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom class="fingertip_pad_collision_4"/>
+                        <geom class="fingertip_pad_collision_5"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <tendon>
+    <fixed name="split">
+      <joint joint="panda_finger_joint1" coef="0.5"/>
+      <joint joint="panda_finger_joint2" coef="0.5"/>
+    </fixed>
+  </tendon>
+
+  <actuator>
+    <general name="panda_joint1" joint="panda_joint1" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
+    <general name="panda_joint2" joint="panda_joint2" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-1.7628 1.7628" forcerange="-40 40"/>
+    <general name="panda_joint3" joint="panda_joint3" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
+    <general name="panda_joint4" joint="panda_joint4" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-3.0718 -0.0698" forcerange="-40 40"/>
+    <general name="panda_joint5" joint="panda_joint5" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
+    <general name="panda_joint6" joint="panda_joint6" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" ctrlrange="-0.0175 3.7525" forcerange="-40 40"/>
+    <general name="panda_joint7" joint="panda_joint7" biastype="affine" gainprm="10000 0 0" biasprm="0 -10000 -250" forcerange="-40 40"/>
+    <general name="panda_finger_joint1" joint="panda_finger_joint1" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
+    <general name="panda_finger_joint2" joint="panda_finger_joint2" biastype="affine" forcerange="-100 100" gainprm="250" biasprm="-5"/>
+  </actuator>
+</mujoco>
diff --git a/robots/franka/mjcf/panda_nohand.xml b/robots/franka/mjcf/panda_nohand.xml
new file mode 100644
index 0000000000000000000000000000000000000000..08464576f4c9ef2d28fe17091b08b5b33aa1fbd6
--- /dev/null
+++ b/robots/franka/mjcf/panda_nohand.xml
@@ -0,0 +1,217 @@
+<mujoco model="panda nohand">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast" impratio="10"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="panda/visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="panda/collision">
+        <geom type="mesh" group="3"/>
+      </default>
+      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="dark_grey" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="link0.stl"/>
+    <mesh name="link1_c" file="link1.stl"/>
+    <mesh name="link2_c" file="link2.stl"/>
+    <mesh name="link3_c" file="link3.stl"/>
+    <mesh name="link4_c" file="link4.stl"/>
+    <mesh name="link5_c0" file="link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="link5_collision_2.obj"/>
+    <mesh name="link6_c" file="link6.stl"/>
+    <mesh name="link7_c" file="link7.stl"/>
+
+    <!-- Visual meshes -->
+    <mesh file="link0_0.obj"/>
+    <mesh file="link0_1.obj"/>
+    <mesh file="link0_2.obj"/>
+    <mesh file="link0_3.obj"/>
+    <mesh file="link0_4.obj"/>
+    <mesh file="link0_5.obj"/>
+    <mesh file="link0_7.obj"/>
+    <mesh file="link0_8.obj"/>
+    <mesh file="link0_9.obj"/>
+    <mesh file="link0_10.obj"/>
+    <mesh file="link0_11.obj"/>
+    <mesh file="link1.obj"/>
+    <mesh file="link2.obj"/>
+    <mesh file="link3_0.obj"/>
+    <mesh file="link3_1.obj"/>
+    <mesh file="link3_2.obj"/>
+    <mesh file="link3_3.obj"/>
+    <mesh file="link4_0.obj"/>
+    <mesh file="link4_1.obj"/>
+    <mesh file="link4_2.obj"/>
+    <mesh file="link4_3.obj"/>
+    <mesh file="link5_0.obj"/>
+    <mesh file="link5_1.obj"/>
+    <mesh file="link5_2.obj"/>
+    <mesh file="link6_0.obj"/>
+    <mesh file="link6_1.obj"/>
+    <mesh file="link6_2.obj"/>
+    <mesh file="link6_3.obj"/>
+    <mesh file="link6_4.obj"/>
+    <mesh file="link6_5.obj"/>
+    <mesh file="link6_6.obj"/>
+    <mesh file="link6_7.obj"/>
+    <mesh file="link6_8.obj"/>
+    <mesh file="link6_9.obj"/>
+    <mesh file="link6_10.obj"/>
+    <mesh file="link6_11.obj"/>
+    <mesh file="link6_12.obj"/>
+    <mesh file="link6_13.obj"/>
+    <mesh file="link6_14.obj"/>
+    <mesh file="link6_15.obj"/>
+    <mesh file="link6_16.obj"/>
+    <mesh file="link7_0.obj"/>
+    <mesh file="link7_1.obj"/>
+    <mesh file="link7_2.obj"/>
+    <mesh file="link7_3.obj"/>
+    <mesh file="link7_4.obj"/>
+    <mesh file="link7_5.obj"/>
+    <mesh file="link7_6.obj"/>
+    <mesh file="link7_7.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_0" material="off_white" class="panda/visual"/>
+      <geom mesh="link0_1" material="dark_grey" class="panda/visual"/>
+      <geom mesh="link0_2" material="off_white" class="panda/visual"/>
+      <geom mesh="link0_3" material="dark_grey" class="panda/visual"/>
+      <geom mesh="link0_4" material="off_white" class="panda/visual"/>
+      <geom mesh="link0_5" material="dark_grey" class="panda/visual"/>
+      <geom mesh="link0_7" material="white" class="panda/visual"/>
+      <geom mesh="link0_8" material="white" class="panda/visual"/>
+      <geom mesh="link0_9" material="dark_grey" class="panda/visual"/>
+      <geom mesh="link0_10" material="off_white" class="panda/visual"/>
+      <geom mesh="link0_11" material="white" class="panda/visual"/>
+      <geom mesh="link0_c" class="panda/collision"/>
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="joint1"/>
+        <geom material="white" mesh="link1" class="panda/visual"/>
+        <geom mesh="link1_c" class="panda/collision"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="joint2" range="-1.7628 1.7628"/>
+          <geom material="white" mesh="link2" class="panda/visual"/>
+          <geom mesh="link2_c" class="panda/collision"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_0" material="white" class="panda/visual"/>
+            <geom mesh="link3_1" material="white" class="panda/visual"/>
+            <geom mesh="link3_2" material="white" class="panda/visual"/>
+            <geom mesh="link3_3" material="dark_grey" class="panda/visual"/>
+            <geom mesh="link3_c" class="panda/collision"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="joint4" range="-3.0718 -0.0698"/>
+              <geom mesh="link4_0" material="white" class="panda/visual"/>
+              <geom mesh="link4_1" material="white" class="panda/visual"/>
+              <geom mesh="link4_2" material="dark_grey" class="panda/visual"/>
+              <geom mesh="link4_3" material="white" class="panda/visual"/>
+              <geom mesh="link4_c" class="panda/collision"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="joint5"/>
+                <geom mesh="link5_0" material="dark_grey" class="panda/visual"/>
+                <geom mesh="link5_1" material="white" class="panda/visual"/>
+                <geom mesh="link5_2" material="white" class="panda/visual"/>
+                <geom mesh="link5_c0" class="panda/collision"/>
+                <geom mesh="link5_c1" class="panda/collision"/>
+                <geom mesh="link5_c2" class="panda/collision"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="joint6" range="-0.0175 3.7525"/>
+                  <geom mesh="link6_0" material="off_white" class="panda/visual"/>
+                  <geom mesh="link6_1" material="white" class="panda/visual"/>
+                  <geom mesh="link6_2" material="dark_grey" class="panda/visual"/>
+                  <geom mesh="link6_3" material="white" class="panda/visual"/>
+                  <geom mesh="link6_4" material="white" class="panda/visual"/>
+                  <geom mesh="link6_5" material="white" class="panda/visual"/>
+                  <geom mesh="link6_6" material="white" class="panda/visual"/>
+                  <geom mesh="link6_7" material="light_blue" class="panda/visual"/>
+                  <geom mesh="link6_8" material="light_blue" class="panda/visual"/>
+                  <geom mesh="link6_9" material="dark_grey" class="panda/visual"/>
+                  <geom mesh="link6_10" material="dark_grey" class="panda/visual"/>
+                  <geom mesh="link6_11" material="white" class="panda/visual"/>
+                  <geom mesh="link6_12" material="green" class="panda/visual"/>
+                  <geom mesh="link6_13" material="white" class="panda/visual"/>
+                  <geom mesh="link6_14" material="dark_grey" class="panda/visual"/>
+                  <geom mesh="link6_15" material="dark_grey" class="panda/visual"/>
+                  <geom mesh="link6_16" material="white" class="panda/visual"/>
+                  <geom mesh="link6_c" class="panda/collision"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="joint7"/>
+                    <geom mesh="link7_0" material="white" class="panda/visual"/>
+                    <geom mesh="link7_1" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_2" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_3" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_4" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_5" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_6" material="dark_grey" class="panda/visual"/>
+                    <geom mesh="link7_7" material="white" class="panda/visual"/>
+                    <geom mesh="link7_c" class="panda/collision"/>
+                    <body name="attachment" pos="0 0 0.107" quat="0.3826834 0 0 0.9238795">
+                      <site name="attachment_site"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450"/>
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450"
+      ctrlrange="-1.7628 1.7628"/>
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350"/>
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350"
+      ctrlrange="-3.0718 -0.0698"/>
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"
+      ctrlrange="-0.0175 3.7525"/>
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853"/>
+  </keyframe>
+</mujoco>
diff --git a/robots/franka/mjcf/scene.xml b/robots/franka/mjcf/scene.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4b322a111cc8ed315e0692c8ca1bb920b03a3abb
--- /dev/null
+++ b/robots/franka/mjcf/scene.xml
@@ -0,0 +1,23 @@
+<mujoco model="panda scene">
+  <include file="panda.xml"/>
+
+  <statistic center="0.3 0 0.4" extent="1"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>
diff --git a/robots/franka/urdf/README.md b/robots/franka/urdf/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..4348bc063e214e1f75215f27789f6da98fb7d820
--- /dev/null
+++ b/robots/franka/urdf/README.md
@@ -0,0 +1 @@
+`franka_panda.urdf` is from comminity. Its source couldn't be tracked since it's too common. We won't add license information to this file and everyone is free to use it.
diff --git a/robots/franka/urdf/franka_panda.urdf b/robots/franka/urdf/franka_panda.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dfe05c929657ed680e7e01edac929a2f74ebce44
--- /dev/null
+++ b/robots/franka/urdf/franka_panda.urdf
@@ -0,0 +1,243 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <!--
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  Removing this joint seems to help with some stability things
+  -->
+  <joint name="panda_hand_joint" type="fixed">
+    <!--
+    <parent link="panda_link8"/>
+    -->
+    <parent link="panda_link7"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
+    <!--
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+    -->
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/hand.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="package://meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://meshes/collision/finger.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://meshes/collision/finger.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <dynamics damping="10.0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+</robot>
diff --git a/robots/franka/urdf/meshes/collision/finger.obj b/robots/franka/urdf/meshes/collision/finger.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfb1c20cc695f7855c4dea049068207e7746aab
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/finger.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a281686e7a34dd0354dc4331ddc488ffdcea4a5209adbf9204c067ba10fa20ba
+size 7602
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index 0000000000000000000000000000000000000000..ef5e672efbb990561b36fcee2c15b2f61cf42065
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/finger.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d07a740392f3b9b0816f65d64fff9927d3d57c897870fc4b6ff9c56fff3a0c8
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index 0000000000000000000000000000000000000000..e3b4c221d1a459dae97dcdc440f0a5ebebe33530
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/hand.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..bb315217a60e27343b84a9d4e3a4686762c4fc8d
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..7412eb8ed75e7b288d29bc84c16fffe45dcde56d
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f5a8174525857c24a1da625bcadc98157866d1fe00cc77c9f5c8ad12e64622d
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index 0000000000000000000000000000000000000000..bbe58384ff30b933eb8758429c4f5cbd970c1b50
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc6d94330de8ddb005b311bfdba9f3b8e1aa7c256b71592ee7ff32cb9a9a5aa
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diff --git a/robots/franka/urdf/meshes/collision/link1.obj b/robots/franka/urdf/meshes/collision/link1.obj
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index 0000000000000000000000000000000000000000..8f95dc8977ebc1e544d4210de64a54d1b2b2e6d3
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..b7e855112619448e2cf63660e07387871de542ac
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link1.stl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka/urdf/meshes/collision/link2.obj b/robots/franka/urdf/meshes/collision/link2.obj
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index 0000000000000000000000000000000000000000..efbe2d0899ad05990de568d962d5b4613468a2b0
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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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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka/urdf/meshes/collision/link6.obj b/robots/franka/urdf/meshes/collision/link6.obj
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index 0000000000000000000000000000000000000000..3b72452079345141e577c5a022cf1618d3eab246
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link6.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b768e99a0e0440b5754dcca108016434e57937cc356acd9c352ccd3cb27f77
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diff --git a/robots/franka/urdf/meshes/collision/link7.obj b/robots/franka/urdf/meshes/collision/link7.obj
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--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka/urdf/meshes/collision/link7.stl b/robots/franka/urdf/meshes/collision/link7.stl
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index 0000000000000000000000000000000000000000..2047756ec662f051af90fe61266998bf16e655fe
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/link7.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka/urdf/meshes/collision/stltoobj.bat b/robots/franka/urdf/meshes/collision/stltoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..67e0b6ea26a003e50d17ba472f8a46f621d3cb79
--- /dev/null
+++ b/robots/franka/urdf/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/urdf/meshes/collision/stltoobj.mlx b/robots/franka/urdf/meshes/collision/stltoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..0b6fbb6b3f005de3ad10029906ede760f2ad6606
--- /dev/null
+++ b/robots/franka/urdf/meshes/collision/stltoobj.mlx
@@ -0,0 +1,20 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Remove Duplicate Vertices"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Remove Faces from Non Manifold Edges"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Delete Selected Vertices"/>
+ <filter name="Cut mesh along crease edges">
+  <Param tooltip="If the angle between the normals of two adjacent faces is &lt;b>larger&lt;/b> that this threshold the edge is considered a creased and the mesh is cut along it." value="20" type="RichFloat" name="angleDeg" description="Crease Angle (degree)"/>
+ </filter>
+ <filter name="Re-Compute Vertex Normals">
+  <Param tooltip="" value="0" type="RichEnum" name="weightMode" enum_val1="By Angle" enum_cardinality="4" enum_val2="By Area" enum_val3="As defined by N. Max" description="Weighting Mode:" enum_val0="None (avg)"/>
+ </filter>
+</FilterScript>
diff --git a/robots/franka/urdf/meshes/visual/daetoobj.bat b/robots/franka/urdf/meshes/visual/daetoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c7172ff4e24de694e8b4a1ee3d5d1ad3f39a6
--- /dev/null
+++ b/robots/franka/urdf/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/urdf/meshes/visual/daetoobj.mlx b/robots/franka/urdf/meshes/visual/daetoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..a72957a82cc8db27f30115056e85ff4d797d5b99
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/daetoobj.mlx
@@ -0,0 +1,4 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Convert PerWedge UV into PerVertex UV"/>
+</FilterScript>
diff --git a/robots/franka/urdf/meshes/visual/finger.dae b/robots/franka/urdf/meshes/visual/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b49b20aab47d023bb5818e8cdc279c0e9ac85bf4
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/finger.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a447a9943ed4b0385b228de49409b71fe603ebff7c12bcbc0ea6e16206ff62
+size 51124
diff --git a/robots/franka/urdf/meshes/visual/finger.mtl b/robots/franka/urdf/meshes/visual/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c63fce760e7eb0f931ff52eca03adb804d0aa744
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/finger.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl Part__Feature001_006
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.250000 0.250000 0.250000
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+
+newmtl Part__Feature_007
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diff --git a/robots/franka/urdf/meshes/visual/finger.obj b/robots/franka/urdf/meshes/visual/finger.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b83987ab63fe862481ef95d65eb26461ae4cea
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/finger.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7d38f85c14bcb6d1fcf2bfadb70329bb0f3b352c02dd03d7f5baed15f3f954
+size 48085
diff --git a/robots/franka/urdf/meshes/visual/hand.dae b/robots/franka/urdf/meshes/visual/hand.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3ec9dab7a3e3aede96e7fe6c6085baef6f1d8cb5
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/hand.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01259e1c53b158db0e304b5da131a9fd1f5205f273d5e2300aec839375e671de
+size 548950
diff --git a/robots/franka/urdf/meshes/visual/hand.mtl b/robots/franka/urdf/meshes/visual/hand.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53ddbc0c254c77f94cd383daf5ec65cbc03d81b6
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/hand.mtl
@@ -0,0 +1,52 @@
+# Blender MTL File: 'None'
+# Material Count: 5
+
+newmtl Part__Feature001_008_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
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+
+newmtl Part__Feature002_005_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
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+
+newmtl Part__Feature005_001_005
+Ns -1.960784
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+illum 2
+
+newmtl Part__Feature005_001_005_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
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+newmtl Part__Feature_009_005
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diff --git a/robots/franka/urdf/meshes/visual/hand.obj b/robots/franka/urdf/meshes/visual/hand.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d700f4cb2b19826472e68848aa685bdb91f550fd
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/hand.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c572a8071796245b1d30dfff565e41c780ca711462884977ca3969b4baeecdd
+size 483975
diff --git a/robots/franka/urdf/meshes/visual/link0.dae b/robots/franka/urdf/meshes/visual/link0.dae
new file mode 100644
index 0000000000000000000000000000000000000000..2230909c7f1d9b40d21d161a2d29d54df9829a34
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/link0.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8520232d4fc2cff0a5d4e360c9bf1be10b3be6bb4327cfb26356e1051b5d2e10
+size 1590897
diff --git a/robots/franka/urdf/meshes/visual/link0.mtl b/robots/franka/urdf/meshes/visual/link0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6a731a393e6eadaeb14c872e80649dc7b7a2e36
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/link0.mtl
@@ -0,0 +1,122 @@
+# Blender MTL File: 'None'
+# Material Count: 12
+
+newmtl Face636_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
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+illum 2
+
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+illum 2
+
+newmtl Shell001_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+Ks 0.125000 0.125000 0.125000
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+illum 2
+
+newmtl Shell002_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.125000 0.125000 0.125000
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+illum 2
+
+newmtl Shell003_001
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+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/robots/franka/urdf/meshes/visual/link7.obj b/robots/franka/urdf/meshes/visual/link7.obj
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index 0000000000000000000000000000000000000000..c69dad3a16f79bfea3cf8ae7f89e65981f94e1ec
--- /dev/null
+++ b/robots/franka/urdf/meshes/visual/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c8ba32b58e82749baf086f1049b0930891763678e284270bb99978763d873b
+size 868368
diff --git a/robots/franka/usd/README.md b/robots/franka/usd/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..65b8e28bee985de4bb5ea76053b9ece5e0a7ab5d
--- /dev/null
+++ b/robots/franka/usd/README.md
@@ -0,0 +1,5 @@
+The `franka_v1.usd` is directly copied from `omniverse://localhost/NVIDIA/Assets/Isaac/4.2/Isaac/Robots/Franka/franka.usd`.
+
+The `franka_v2.usd` is derived from `omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Robots/Franka/franka.usd`. The damping and stiffness of both the arm and the gripper are modified.
+
+`franka_v2.usd` is tuned to be more stable, and is expected to have better performance for tasks that is very delicate. It is tested on `square_d0` task from RoboSuite. The `franka_v1.usd` has ~10% success rate, while `franka_v2.usd` has ~25% success rate.
diff --git a/robots/franka/usd/franka-LICENSE.txt b/robots/franka/usd/franka-LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84f5f8e305933f688ff99a113bb4188275d1ffdf
--- /dev/null
+++ b/robots/franka/usd/franka-LICENSE.txt
@@ -0,0 +1,176 @@
+Apache License
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diff --git a/robots/franka/usd/franka_v1.usd b/robots/franka/usd/franka_v1.usd
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+oid sha256:d0ee78cc7457854900c8563f5a27ccbf2958047a14e7f3b032fe6cb3b2aeb8be
+size 10078438
diff --git a/robots/franka/usd/franka_v2.usd b/robots/franka/usd/franka_v2.usd
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+++ b/robots/franka/usd/franka_v2.usd
@@ -0,0 +1,3 @@
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+oid sha256:2da1e6797464d8863f43d8c8997055141128c810581dff9b1fad5eab2cc54dea
+size 10081402