diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack005.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack005.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack011.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack011.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack015.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack015.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack016.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack016.obj
new file mode 100644
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--- /dev/null
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack021.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack021.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6117e7cde1436f3ef8a1665e3e5c19623a9fae58
--- /dev/null
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack024.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack024.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd7843b56b9422cdd608eff78c5f996d49ec0f2
--- /dev/null
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack030.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack030.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack046.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack046.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack060.obj b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/racks/dish_rack/dish_rack060.obj
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..cd8a33737589ecf03e46e27f1b8fd316cfdbafda
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/base_link.dae
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+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Michael Ferguson</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-20, commit time:18:16, hash:bbf09d9</authoring_tool>
+    </contributor>
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+    <modified>2015-01-31T12:10:16</modified>
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+        </technique>
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/bellows_link_collision.STL b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/bellows_link_collision.STL
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/gripper_link.STL b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/gripper_link.STL
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diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/head_tilt_link.dae b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/head_tilt_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..3987c62ea2284298ab3591dabf12cfa46bcce57b
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/head_tilt_link.dae
@@ -0,0 +1,134 @@
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
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+          </technique_common>
+        </source>
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+        </vertices>
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+          <input semantic="NORMAL" source="#head_tilt_link-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#head_tilt_link-mesh-map-0" offset="2" set="0"/>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="head_tilt_link" name="head_tilt_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#head_tilt_link-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/shoulder_lift_link.dae b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/shoulder_lift_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b20237125311d3b3951539919d0734221a86db68
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/shoulder_lift_link.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Michael Ferguson</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-20, commit time:18:16, hash:bbf09d9</authoring_tool>
+    </contributor>
+    <created>2015-01-30T23:57:00</created>
+    <modified>2015-01-30T23:57:00</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="shoulder_lift_uv" name="shoulder_lift_uv">
+      <init_from>shoulder_lift_uv.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="shoulder_lift_uv-surface">
+          <surface type="2D">
+            <init_from>shoulder_lift_uv</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="shoulder_lift_uv-sampler">
+          <sampler2D>
+            <source>shoulder_lift_uv-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="shoulder_lift_uv-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="shoulder_lift_link-mesh" name="shoulder lift link">
+      <mesh>
+        <source id="shoulder_lift_link-mesh-positions">
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="shoulder_lift_link" name="shoulder_lift_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#shoulder_lift_link-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/torso_lift_link.dae b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/torso_lift_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..9f84ea2fc81c2bd4b07e10ee5cc540c0dff140a7
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/torso_lift_link.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Michael Ferguson</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-20, commit time:18:16, hash:bbf09d9</authoring_tool>
+    </contributor>
+    <created>2015-01-31T10:53:49</created>
+    <modified>2015-01-31T10:53:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="torso_lift_uv" name="torso_lift_uv">
+      <init_from>torso_lift_uv.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="torso_lift_uv-surface">
+          <surface type="2D">
+            <init_from>torso_lift_uv</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="torso_lift_uv-sampler">
+          <sampler2D>
+            <source>torso_lift_uv-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="torso_lift_uv-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="torso_lift_link-mesh" name="torso lift link">
+      <mesh>
+        <source id="torso_lift_link-mesh-positions">
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11180 33540 5699 11180 33541 5701 11180 33542 5700 11181 33543 5701 11181 33544 99 11181 33545 99 11182 33546 5701 11182 33547 100 11182 33548 2301 11183 33549 2299 11183 33550 5694 11183 33551 5694 11184 33552 2299 11184 33553 5698 11184 33554 5694 11185 33555 5698 11185 33556 5695 11185 33557 5695 11186 33558 5698 11186 33559 5700 11186 33560 5695 11187 33561 5700 11187 33562 97 11187 33563 97 11188 33564 5700 11188 33565 99 11188 33566 3807 11189 33567 3808 11189 33568 5702 11189 33569 136 11190 33570 130 11190 33571 5703 11190 33572 5703 11191 33573 130 11191 33574 5704 11191 33575 5703 11192 33576 5704 11192 33577 5702 11192 33578 5702 11193 33579 5704 11193 33580 5705 11193 33581 5702 11194 33582 5705 11194 33583 3807 11194 33584 3807 11195 33585 5705 11195 33586 3800 11195 33587 137 11196 33588 136 11196 33589 5696 11196 33590 5696 11197 33591 136 11197 33592 5703 11197 33593 5696 11198 33594 5703 11198 33595 5697 11198 33596 5697 11199 33597 5703 11199 33598 5702 11199 33599 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="torso_lift_link" name="torso_lift_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#torso_lift_link-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/upperarm_roll_link_collision.STL b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/upperarm_roll_link_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..120793232e41601320be52e298be450de59e3b5f
Binary files /dev/null and b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/upperarm_roll_link_collision.STL differ
diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link.dae b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..1cdb9de1890b2dd1aff572412ec3fcf670f332fb
--- /dev/null
+++ b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link.dae
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Michael Ferguson</author>
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+          <technique_common>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="wrist_flex_link" name="wrist_flex_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#wrist_flex_link-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link_collision.STL b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3215d2e1de0f271dfdfc8abb2c00c47cafaabe45
Binary files /dev/null and b/project/ManiSkill3/src/maniskill3_environment/mani_skill/assets/robots/fetch/fetch_description/meshes/wrist_flex_link_collision.STL differ