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index 0000000000000000000000000000000000000000..8613d361719f3ade8c6e9b7c2eeafd3ec5e9d3dc
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/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_shadow_hand/mjcf/meshes/link7_7.obj b/robots/franka_shadow_hand/mjcf/meshes/link7_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..950e51eb7239a9c6ea6b72c20b7060c2928cf04c
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/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_shadow_hand/mjcf/meshes/palm.dae b/robots/franka_shadow_hand/mjcf/meshes/palm.dae
new file mode 100755
index 0000000000000000000000000000000000000000..068445eb7aff2bf4c8cbc49b0b9b292891d6769f
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebe43eb88d51691c04474df5a6a1cac08592d1c28a830adc3e66638e902d7ec7
+size 411164
diff --git a/robots/franka_shadow_hand/mjcf/meshes/palm.obj b/robots/franka_shadow_hand/mjcf/meshes/palm.obj
new file mode 100755
index 0000000000000000000000000000000000000000..90efaed5852de0e38c38cb82aa0d74c42cc07b66
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de775f7a2115155e327a05ae6fbeb685da667606d0d34098dd9738eeb35fe8b5
+size 443778
diff --git a/robots/franka_shadow_hand/mjcf/meshes/palm.stl b/robots/franka_shadow_hand/mjcf/meshes/palm.stl
new file mode 100755
index 0000000000000000000000000000000000000000..7bc55157c292f87ca2cc96f6eb6ed936bf33e2bf
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12593bcba03bbf278cd7d7db3ca79ba753ada3cb58ee93e725603e9b5e29fd0c
+size 347784
diff --git a/robots/franka_shadow_hand/mjcf/meshes/palm_left.obj b/robots/franka_shadow_hand/mjcf/meshes/palm_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..153c4aaa81eba46aed87477700bf78c5e44c622f
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17086bf6a8dfb5029b893a60752b7b4a9b85768cc065a915639174e36171bf58
+size 245491
diff --git a/robots/franka_shadow_hand/mjcf/meshes/palm_left.stl b/robots/franka_shadow_hand/mjcf/meshes/palm_left.stl
new file mode 100755
index 0000000000000000000000000000000000000000..85b50aeee63f578277c1c2a27ad0887e297925fc
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm_left.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee4c28e5b7beb8bdefed98a6f30da193cc4320fe2928f1668c7b50330d61982
+size 347784
diff --git a/robots/franka_shadow_hand/mjcf/meshes/wrist.dae b/robots/franka_shadow_hand/mjcf/meshes/wrist.dae
new file mode 100755
index 0000000000000000000000000000000000000000..26b92ace465f852e1e37e1a7a98cec6df0ce5861
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/wrist.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1b65d717661ebda4b74de84b842f3afa940c1586de88a44166f5d70ad0e4d88
+size 142285
diff --git a/robots/franka_shadow_hand/mjcf/meshes/wrist.obj b/robots/franka_shadow_hand/mjcf/meshes/wrist.obj
new file mode 100755
index 0000000000000000000000000000000000000000..6289fb2b100c0fedd6dee04958043f2bae3baf00
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/wrist.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 109403
diff --git a/robots/franka_shadow_hand/mjcf/meshes/wrist.stl b/robots/franka_shadow_hand/mjcf/meshes/wrist.stl
new file mode 100755
index 0000000000000000000000000000000000000000..d19496421bc5354a3e9556a5397e451e65d6f438
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/wrist.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/mjcf/stl2obj.py b/robots/franka_shadow_hand/mjcf/stl2obj.py
new file mode 100644
index 0000000000000000000000000000000000000000..13fd07f7c777f46084566357cd115aba794d0382
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/stl2obj.py
@@ -0,0 +1,18 @@
+import trimesh
+import os
+import shutil
+
+def convert_stl_to_obj(stl_path, obj_path):
+ mesh = trimesh.load_mesh(stl_path)
+ mesh.export(obj_path)
+
+if __name__ == "__main__":
+ dir = "/home/fs/yizhuo/RoboVerse/roboverse_data/robots/franka_shadow_hand/mjcf/meshes"
+
+ for obj_file in os.listdir(dir):
+ if obj_file.endswith(".stl"):
+ stl_path = os.path.join(dir, obj_file)
+ obj_path = os.path.join(dir, obj_file.replace(".stl", ".obj"))
+ if os.path.exists(obj_path):
+ continue
+ convert_stl_to_obj(stl_path, obj_path)
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
index 3e39ff5af7c34823dfb43a265dcfad113d00934f..7102b9dc7d201e75e0c69687328f7904943e8e60 100644
--- a/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
@@ -886,7 +886,7 @@
-
+
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
index 1644f18fd2ad043576ebc772c66a627c5fbccca0..64a0e2cd9fe66dfa55f3b02acc6ba20e1c80b8e4 100644
--- a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
@@ -886,7 +886,7 @@
-
+
diff --git a/robots/franka_shadow_hand/urdf/shadow_left.urdf b/robots/franka_shadow_hand/urdf/shadow_left.urdf
index 988f2255e772a16f18d6ca51a4119bf092f972e5..2d06ef481e898358dddfe95265dcdc533ff4648c 100644
--- a/robots/franka_shadow_hand/urdf/shadow_left.urdf
+++ b/robots/franka_shadow_hand/urdf/shadow_left.urdf
@@ -747,7 +747,7 @@
-
+
diff --git a/robots/franka_shadow_hand/urdf/shadow_right.urdf b/robots/franka_shadow_hand/urdf/shadow_right.urdf
index aa039de7ccfbc63e0737c98d8ce85c643eaa51ab..7361fb6b0a5592506ca4f7cfd38960c9379713a6 100644
--- a/robots/franka_shadow_hand/urdf/shadow_right.urdf
+++ b/robots/franka_shadow_hand/urdf/shadow_right.urdf
@@ -747,7 +747,7 @@
-
+