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@@ -434,3 +434,10 @@ FrankaEmika/Props/panda_link4.usd filter=lfs diff=lfs merge=lfs -text
 FrankaEmika/Props/panda_link5.usd filter=lfs diff=lfs merge=lfs -text
 FrankaEmika/Props/panda_link6.usd filter=lfs diff=lfs merge=lfs -text
 FrankaEmika/Props/panda_link7.usd filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/camera_Link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/fl_Link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/fr_Link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/laser_Link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/rl_Link.STL filter=lfs diff=lfs merge=lfs -text
+franka_description/meshes/rr_Link.STL filter=lfs diff=lfs merge=lfs -text

franka_description/meshes/base_link.STL

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franka_description/meshes/camera_Link.STL

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+oid sha256:7aa9231d80669669c176ba37235a19371c5aa73f338eccf7309f58186d7a9903
+size 654884

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franka_description/meshes/collision/hand.stl.convex.stl

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+solid AssimpScene
+ facet normal 0 0 0
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+v 0.079071 0.035077 0.094492
+vn 0.769515 -0.638383 0.017689
+v 0.033384 -0.028652 0.096679
+vn 0.818872 -0.573561 -0.021838
+v 0.080795 0.036670 0.082324
+vn 0.804039 -0.588314 -0.086077
+v 0.034635 -0.027228 0.052124
+vn 0.623556 -0.781778 0.001130
+v 0.027746 -0.034283 0.052052
+vn 0.612894 -0.058605 -0.787989
+v 0.043768 -0.003468 0.052000
+vn 0.480156 0.146269 -0.864902
+v 0.042535 0.012075 0.052002
+vn 0.585468 0.085951 -0.806126
+v 0.079328 0.037021 0.076647
+vn 0.000038 0.000025 1.000000
+v -0.030755 -0.003739 0.106804
+vn -0.000001 0.000170 1.000000
+v -0.028507 0.011434 0.106802
+vn 0.304262 -0.512098 0.803231
+v 0.015969 -0.026112 0.106800
+vn 0.380286 -0.463624 0.800272
+v 0.027071 -0.034540 0.096768
+vn 0.711152 0.064677 0.700057
+v 0.079799 0.037061 0.094108
+vn 0.118512 0.243014 0.962756
+v 0.035256 0.077529 0.096057
+vn -0.033655 0.594859 -0.803125
+v -0.002946 0.043820 0.052000
+vn 0.225846 0.536309 -0.813244
+v 0.036947 0.079381 0.076667
+vn 0.158057 0.473610 -0.866436
+v 0.013710 0.042013 0.052003
+vn -0.655977 -0.694113 -0.296482
+v -0.029975 -0.032195 0.052039
+vn -0.175748 -0.959160 0.221642
+v -0.036427 -0.039501 0.089079
+vn -0.714077 -0.699900 0.015279
+v -0.036427 -0.039501 0.089079
+vn -0.708270 -0.705621 0.021289
+v -0.037894 -0.037990 0.089726
+vn -0.171479 -0.961893 0.212971
+v -0.011197 -0.042299 0.096978
+vn -0.264110 -0.953998 -0.141892
+v -0.011782 -0.042409 0.052055
+vn 0.063873 -0.997956 0.002039
+v 0.002013 -0.043828 0.096804
+vn 0.193942 -0.981012 0.001100
+v 0.008517 -0.043263 0.052105
+vn 0.416005 -0.909362 0.001251
+v 0.018262 -0.040127 0.052101
+vn 0.332771 -0.943001 0.003399
+v 0.014976 -0.041228 0.096841
+vn -0.101291 -0.583780 0.805569
+v -0.005273 -0.030338 0.106803
+vn 0.121019 -0.584036 0.802656
+v 0.006889 -0.029908 0.106800
+vn 0.297631 -0.526186 0.796583
+v 0.021530 -0.038274 0.096689
+vn 0.765769 0.488072 0.418788
+v 0.080360 0.039083 0.092514
+vn 0.998282 -0.050342 0.029986
+v 0.081306 0.039723 0.085821
+vn 0.792154 -0.339137 -0.507423
+v 0.040587 -0.017237 0.052040
+vn -0.004516 0.000470 -0.999990
+v -0.013272 0.041875 0.052005
+vn -0.123878 0.655644 -0.744839
+v -0.013272 0.041875 0.052005
+vn -0.006771 0.000925 -0.999977
+v -0.023201 0.037467 0.052086
+vn -0.387567 0.812054 -0.436304
+v -0.023201 0.037467 0.052086
+vn -0.612301 0.790601 0.006047
+v -0.027495 0.034204 0.096755
+vn -0.663366 0.748293 0.001846
+v -0.028757 0.033326 0.052110
+vn -0.461188 0.884440 0.071221
+v 0.035179 0.079449 0.093829
+vn 0.014223 0.823989 0.566428
+v 0.038180 0.080477 0.092822
+vn -0.173916 0.971016 0.163956
+v 0.038180 0.080477 0.092822
+vn 0.356884 0.348455 -0.866725
+v 0.031151 0.031215 0.051991
+vn -0.582831 0.111057 0.804969
+v -0.042960 0.009041 0.096820
+vn -0.725195 -0.284875 0.626848
+v -0.039666 -0.036274 0.088832
+vn -0.698624 -0.714645 0.034756
+v -0.039666 -0.036274 0.088832
+vn -0.820133 -0.503337 -0.272091
+v -0.037013 -0.023885 0.052071
+vn -0.952704 -0.266594 -0.145887
+v -0.042725 -0.010443 0.052064
+vn -0.471411 -0.842340 -0.261218
+v -0.021465 -0.038373 0.052004
+vn 0.000152 -0.000072 1.000000
+v -0.023894 -0.019354 0.106802
+vn 0.000107 0.000315 1.000000
+v -0.015706 -0.026250 0.106801
+vn 0.778539 0.558836 -0.285620
+v 0.080874 0.039108 0.079979
+vn 0.507371 0.677075 0.533051
+v 0.038972 0.079642 0.093692
+vn 0.420661 0.592045 -0.687406
+v 0.038152 0.080493 0.078362
+vn 0.533285 0.754323 -0.382890
+v 0.038152 0.080493 0.078362
+vn 0.589387 0.772212 -0.237302
+v 0.039656 0.081087 0.081628
+vn 0.583125 0.748914 -0.314791
+v 0.045758 0.075136 0.078404
+vn -0.072199 0.799819 0.595884
+v 0.036935 0.078982 0.095029
+vn -0.721623 0.692276 0.003920
+v -0.031876 0.030179 0.096708
+vn -0.984411 0.175875 0.001410
+v -0.043266 0.008526 0.052097
+vn -0.998627 0.052287 0.003217
+v -0.043904 0.002414 0.096649
+vn -0.998358 -0.056285 -0.010669
+v -0.044035 -0.001620 0.052074
+vn 0.193342 -0.981126 0.003137
+v 0.008366 -0.043150 0.096608
+vn 0.833833 -0.467588 -0.293401
+v 0.080019 0.036309 0.078146
+vn -0.068995 0.995658 0.062495
+v 0.039355 0.081097 0.089372
+vn -0.782266 0.622944 0.001013
+v -0.034473 0.027532 0.052108
+vn -0.840016 0.542551 0.003334
+v -0.036570 0.024466 0.096558
+vn -0.914539 0.404489 0.002456
+v -0.040038 0.018477 0.052095
+vn -0.675027 -0.147070 0.722986
+v -0.043358 -0.006639 0.096822
+vn 0.620669 0.783257 0.035748
+v 0.039986 0.081187 0.085767
+vn -0.548227 0.247482 0.798874
+v -0.040085 0.017738 0.096903
+vn 0.905483 0.006763 -0.424329
+v 0.079836 0.038627 0.077757
+# 180 vertices, 0 vertices normals
+
+f 1//1 2//2 3//3
+f 103//103 104//104 6//6
+f 105//105 106//106 1//1
+f 107//107 109//109 110//110
+f 107//107 110//110 111//111
+f 110//110 112//112 111//111
+f 113//113 112//112 110//110
+f 114//114 115//115 116//116
+f 18//18 19//19 20//20
+f 1//1 106//106 117//117
+f 117//117 106//106 118//118
+f 23//23 24//24 11//11
+f 24//24 119//119 120//120
+f 23//23 11//11 10//10
+f 27//27 23//23 121//121
+f 3//3 29//29 122//122
+f 123//123 124//124 125//125
+f 6//6 34//34 126//126
+f 6//6 128//128 129//129
+f 127//127 6//6 130//130
+f 104//104 130//130 6//6
+f 131//131 103//103 6//6
+f 132//132 103//103 133//133
+f 133//133 134//134 135//135
+f 132//132 104//104 103//103
+f 38//38 5//5 136//136
+f 137//137 43//43 119//119
+f 43//43 138//138 119//119
+f 134//134 46//46 135//135
+f 139//139 48//48 49//49
+f 9//9 12//12 140//140
+f 1//1 3//3 122//122
+f 2//2 23//23 3//3
+f 119//119 138//138 120//120
+f 2//2 24//24 23//23
+f 141//141 114//114 116//116
+f 124//124 123//123 143//143
+f 32//32 52//52 145//145
+f 146//146 53//53 147//147
+f 148//148 150//150 58//58
+f 116//116 115//115 151//151
+f 151//151 60//60 116//116
+f 22//22 152//152 21//21
+f 129//129 154//154 6//6
+f 155//155 34//34 156//156
+f 131//131 6//6 157//157
+f 117//117 158//158 159//159
+f 66//66 68//68 37//37
+f 66//66 21//21 68//68
+f 38//38 69//69 36//36
+f 9//9 47//47 28//28
+f 122//122 105//105 1//1
+f 70//70 160//160 72//72
+f 73//73 72//72 60//60
+f 19//19 74//74 161//161
+f 161//161 20//20 19//19
+f 121//121 23//23 10//10
+f 23//23 29//29 3//3
+f 163//163 164//164 165//165
+f 125//125 124//124 151//151
+f 124//124 79//79 151//151
+f 80//80 60//60 151//151
+f 166//166 149//149 56//56
+f 20//20 161//161 81//81
+f 20//20 81//81 122//122
+f 30//30 166//166 56//56
+f 54//54 30//30 56//56
+f 147//147 167//167 146//146
+f 61//61 168//168 169//169
+f 152//152 84//84 21//21
+f 154//154 34//34 6//6
+f 170//170 169//169 168//168
+f 34//34 155//155 126//126
+f 170//170 156//156 34//34
+f 126//126 157//157 6//6
+f 136//136 69//69 38//38
+f 67//67 69//69 136//136
+f 68//68 153//153 37//37
+f 133//133 135//135 171//171
+f 133//133 171//171 132//132
+f 40//40 136//136 5//5
+f 139//139 50//50 48//48
+f 49//49 18//18 27//27
+f 50//50 160//160 70//70
+f 23//23 27//27 29//29
+f 141//141 172//172 112//112
+f 71//71 12//12 87//87
+f 140//140 12//12 71//71
+f 116//116 172//172 141//141
+f 88//88 89//89 73//73
+f 88//88 90//90 89//89
+f 19//19 91//91 92//92
+f 11//11 24//24 120//120
+f 49//49 27//27 139//139
+f 150//150 173//173 58//58
+f 146//146 94//94 53//53
+f 148//148 94//94 146//146
+f 148//148 58//58 94//94
+f 30//30 54//54 7//7
+f 174//174 167//167 147//147
+f 174//174 175//175 167//167
+f 176//176 175//175 174//174
+f 177//177 153//153 68//68
+f 66//66 37//37 67//67
+f 69//69 37//37 36//36
+f 37//37 69//69 67//67
+f 137//137 40//40 86//86
+f 24//24 45//45 25//25
+f 44//44 45//45 159//159
+f 2//2 45//45 24//24
+f 159//159 45//45 117//117
+f 137//137 136//136 40//40
+f 113//113 46//46 134//134
+f 26//26 46//46 113//113
+f 9//9 140//140 47//47
+f 9//9 28//28 108//108
+f 29//29 18//18 20//20
+f 172//172 111//111 112//112
+f 89//89 72//72 73//73
+f 72//72 89//89 70//70
+f 91//91 49//49 48//48
+f 20//20 122//122 29//29
+f 80//80 79//79 73//73
+f 73//73 79//79 88//88
+f 88//88 79//79 78//78
+f 88//88 165//165 90//90
+f 164//164 90//90 165//165
+f 19//19 92//92 74//74
+f 178//178 74//74 92//92
+f 178//178 92//92 90//90
+f 90//90 164//164 178//178
+f 152//152 22//22 179//179
+f 27//27 121//121 139//139
+f 145//145 94//94 32//32
+f 94//94 76//76 32//32
+f 76//76 101//101 77//77
+f 101//101 94//94 58//58
+f 151//151 79//79 80//80
+f 175//175 176//176 100//100
+f 98//98 34//34 62//62
+f 177//177 68//68 21//21
+f 84//84 177//177 21//21
+f 49//49 91//91 18//18
+f 19//19 18//18 91//91
+f 27//27 18//18 29//29
+f 90//90 92//92 89//89
+f 70//70 48//48 50//50
+f 48//48 92//92 91//91
+f 89//89 48//48 70//70
+f 124//124 162//162 78//78
+f 74//74 178//178 93//93
+f 82//82 96//96 8//8
+f 179//179 22//22 96//96
+f 8//8 96//96 22//22
+f 101//101 58//58 173//173
+f 79//79 124//124 78//78
+f 87//87 17//17 71//71
+f 17//17 180//180 71//71
+f 60//60 102//102 116//116
+f 166//166 75//75 149//149
+f 74//74 57//57 161//161
+f 93//93 57//57 74//74
+f 54//54 8//8 7//7
+f 43//43 137//137 86//86
+f 173//173 99//99 101//101
+f 101//101 99//99 77//77
+f 76//76 94//94 101//101
+f 60//60 80//80 73//73
+f 82//82 8//8 54//54
+f 100//100 176//176 61//61
+f 168//168 61//61 176//176
+f 89//89 92//92 48//48
+f 110//110 26//26 113//113
+f 60//60 72//72 102//102
+f 160//160 102//102 72//72
+f 98//98 169//169 170//170
+f 34//34 98//98 170//170
+f 31//31 33//33 65//65
+f 13//13 14//14 65//65
+f 59//59 16//16 65//65
+f 15//15 65//65 16//16
+f 42//42 41//41 65//65
+f 63//63 64//64 65//65
+f 55//55 144//144 65//65
+f 95//95 55//55 65//65
+f 85//85 65//65 64//64
+f 4//4 65//65 41//41
+f 14//14 42//42 65//65
+f 31//31 65//65 142//142
+f 59//59 65//65 33//33
+f 83//83 65//65 85//85
+f 39//39 65//65 4//4
+f 51//51 65//65 15//15
+f 142//142 65//65 144//144
+f 97//97 95//95 65//65
+f 63//63 65//65 35//35
+f 51//51 13//13 65//65
+f 83//83 97//97 65//65
+f 1//1 45//45 2//2
+f 117//117 45//45 1//1
+# 200 faces, 0 coords texture
+
+# End of File

franka_description/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"

franka_description/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>

franka_description/meshes/fl_Link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1569013dc64e7e313f0056089947f925be0f2ec242a2a79ab19e2ddfcab685a
+size 2140284

franka_description/meshes/fr_Link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:974b273441108b3cf3d69c47e158f7c294aba86e223fc37281e500143080af7a
+size 2140284

franka_description/meshes/laser_Link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e31f72f9a0baf7d6f2b60cd9cf3a8bd5de88078d3fceba14645278f8cb7e65
+size 968284

franka_description/meshes/rl_Link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0246d70478b1dab4b585913c9555ce4da09faa2dc184686e7211839e55a142e5
+size 2140284

franka_description/meshes/rr_Link.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196fe5149496322f11381feba673635192a93edb00e921e5837c40f1c5af6432
+size 2140284

franka_description/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

franka_description/meshes/visual/daetoobj.mlx

@@ -0,0 +1,4 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Convert PerWedge UV into PerVertex UV"/>
+</FilterScript>

franka_description/meshes/visual/finger.dae

@@ -0,0 +1,176 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.79.0</authoring_tool>
+    </contributor>
+    <created>2018-02-20T15:00:35</created>
+    <modified>2018-02-20T15:00:35</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Part__Feature_007-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.2509804 0.2509804 0.2509804 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Part__Feature001_006-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.9019608 0.9215686 0.9294118 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <transparent opaque="A_ONE">
+              <color>1 1 1 1</color>
+            </transparent>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Part__Feature_007-material" name="Part__Feature_007">
+      <instance_effect url="#Part__Feature_007-effect"/>
+    </material>
+    <material id="Part__Feature001_006-material" name="Part__Feature001_006">
+      <instance_effect url="#Part__Feature001_006-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Part__Feature_007-mesh" name="Part__Feature.007">
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franka_description/meshes/visual/finger.mtl

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franka_description/meshes/visual/finger.obj

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+# www.blender.org
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franka_description/meshes/visual/hand.mtl

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franka_description/meshes/visual/link0.mtl

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franka_description/meshes/visual/link1.mtl

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franka_description/meshes/visual/link2.mtl

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