diff --git "a/embodiments/ur5-wsg/meshes/robotiq_85/visual/robotiq_85_inner_knuckle_link.dae" "b/embodiments/ur5-wsg/meshes/robotiq_85/visual/robotiq_85_inner_knuckle_link.dae"
--- "a/embodiments/ur5-wsg/meshes/robotiq_85/visual/robotiq_85_inner_knuckle_link.dae"
+++ "b/embodiments/ur5-wsg/meshes/robotiq_85/visual/robotiq_85_inner_knuckle_link.dae"
@@ -1,241 +1,3 @@
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1000 1823 1001 1823 983 1824 1001 1824 994 1824 994 1825 1001 1825 1002 1825 994 1826 1002 1826 995 1826 995 1827 1002 1827 1003 1827 995 1828 1003 1828 996 1828 996 1829 1003 1829 1004 1829 996 1830 1004 1830 984 1830 984 1831 1004 1831 1005 1831 984 1832 1005 1832 985 1832 985 1833 1005 1833 1006 1833 985 1834 1006 1834 986 1834 986 1835 1006 1835 1007 1835 986 1836 1007 1836 987 1836 987 1837 1007 1837 1008 1837 987 1838 1008 1838 989 1838 989 1839 1008 1839 1009 1839 989 1840 1009 1840 990 1840 990 1841 1009 1841 1010 1841 990 1842 1010 1842 993 1842 993 1843 1010 1843 1011 1843 993 1844 1011 1844 992 1844 992 1845 1011 1845 1012 1845 992 1846 1012 1846 980 1846 980 1847 1012 1847 1013 1847 980 1848 1013 1848 981 1848 981 1849 1013 1849 1014 1849 981 1850 1014 1850 988 1850 988 1851 1014 1851 780 1851 988 1852 780 1852 755 1852 999 1853 998 1853 997 1853 1015 1854 781 1854 997 1854 997 1855 781 1855 780 1855 997 1856 780 1856 1014 1856 1014 1857 1013 1857 997 1857 997 1858 1013 1858 1012 1858 997 1859 1012 1859 1011 1859 1011 1860 1010 1860 997 1860 997 1861 1010 1861 1009 1861 997 1862 1009 1862 1008 1862 1008 1863 1007 1863 997 1863 997 1864 1007 1864 1006 1864 997 1865 1006 1865 1005 1865 1005 1866 1004 1866 997 1866 997 1867 1004 1867 1003 1867 997 1868 1003 1868 1002 1868 1002 1869 1001 1869 997 1869 997 1870 1001 1870 1000 1870 997 1871 1000 1871 999 1871 781 1872 1015 1872 1016 1872 781 1873 1016 1873 785 1873 785 1874 1016 1874 1017 1874 785 1875 1017 1875 786 1875 786 1876 1017 1876 1018 1876 786 1877 1018 1877 787 1877 787 1878 1018 1878 1019 1878 787 1879 1019 1879 791 1879 791 1880 1019 1880 1020 1880 791 1881 1020 1881 792 1881 792 1882 1020 1882 1021 1882 792 1883 1021 1883 753 1883 753 1884 1021 1884 1022 1884 753 1885 1022 1885 754 1885 754 1886 1022 1886 1023 1886 754 1887 1023 1887 756 1887 756 1888 1023 1888 1024 1888 756 1889 1024 1889 767 1889 767 1890 1024 1890 1025 1890 767 1891 1025 1891 766 1891 667 1892 665 1892 611 1892 611 1893 665 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1023 2001 1035 2002 1034 2002 843 2002 843 2003 1034 2003 1033 2003 972 2004 1026 2004 979 2004 979 2005 1026 2005 1025 2005 979 2006 1025 2006 1024 2006 971 2007 970 2007 1026 2007 1026 2008 970 2008 978 2008 1026 2009 978 2009 977 2009 896 2010 861 2010 860 2010 911 2011 962 2011 961 2011 842 2012 1037 2012 843 2012 843 2013 1037 2013 1036 2013 843 2014 1036 2014 1035 2014 1033 2015 1032 2015 843 2015 843 2016 1032 2016 1031 2016 843 2017 1031 2017 844 2017 844 2018 1031 2018 1030 2018 844 2019 1030 2019 1029 2019 1023 2020 1022 2020 979 2020 979 2021 1022 2021 1021 2021 979 2022 1021 2022 1020 2022 967 2023 859 2023 858 2023 966 2024 899 2024 967 2024 967 2025 899 2025 898 2025 860 2026 859 2026 896 2026 896 2027 859 2027 967 2027 896 2028 967 2028 897 2028 897 2029 967 2029 898 2029 1029 2030 1028 2030 844 2030 844 2031 1028 2031 1027 2031 844 2032 1027 2032 1026 2032 840 2033 822 2033 841 2033 841 2034 822 2034 804 2034 841 2035 804 2035 842 2035 842 2036 804 2036 1039 2036 842 2037 1039 2037 1038 2037 858 2038 857 2038 967 2038 967 2039 857 2039 856 2039 967 2040 856 2040 855 2040 902 2041 901 2041 966 2041 966 2042 901 2042 900 2042 966 2043 900 2043 899 2043 908 2044 907 2044 964 2044 964 2045 907 2045 906 2045 964 2046 906 2046 965 2046 906 2047 905 2047 965 2047 965 2048 905 2048 904 2048 965 2049 904 2049 966 2049 966 2050 904 2050 903 2050 966 2051 903 2051 902 2051 962 2052 911 2052 963 2052 963 2053 911 2053 910 2053 963 2054 910 2054 964 2054 964 2055 910 2055 909 2055 964 2056 909 2056 908 2056 1017 2057 1016 2057 979 2057 979 2058 1016 2058 1015 2058 979 2059 1015 2059 997 2059 977 2060 976 2060 1026 2060 1026 2061 976 2061 975 2061 1026 2062 975 2062 845 2062 845 2063 975 2063 974 2063 845 2064 974 2064 846 2064 917 2065 916 2065 941 2065 941 2066 916 2066 915 2066 941 2067 915 2067 914 2067 1020 2068 1019 2068 979 2068 979 2069 1019 2069 1018 2069 979 2070 1018 2070 1017 2070 855 2071 854 2071 967 2071 967 2072 854 2072 853 2072 967 2073 853 2073 968 2073 961 2074 960 2074 911 2074 911 2075 960 2075 959 2075 911 2076 959 2076 912 2076 912 2077 959 2077 941 2077 912 2078 941 2078 913 2078 913 2079 941 2079 914 2079 923 2080 922 2080 941 2080 941 2081 922 2081 921 2081 941 2082 921 2082 920 2082 920 2083 919 2083 941 2083 941 2084 919 2084 918 2084 941 2085 918 2085 917 2085 853 2086 852 2086 968 2086 968 2087 852 2087 851 2087 968 2088 851 2088 969 2088 851 2089 850 2089 969 2089 969 2090 850 2090 849 2090 969 2091 849 2091 973 2091 973 2092 849 2092 848 2092 973 2093 848 2093 974 2093 974 2094 848 2094 847 2094 974 2095 847 2095 846 2095</p>
-        </polylist>
-        <polylist material="Material_003-material" count="428">
-          <input semantic="VERTEX" source="#robotiq_85_inner_knuckle_link_001-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#robotiq_85_inner_knuckle_link_001-mesh-normals" offset="1"/>
-          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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112 95 113 34 113 11 113 95 114 11 114 96 114 96 115 11 115 10 115 96 116 10 116 97 116 97 117 10 117 12 117 97 118 12 118 98 118 98 119 12 119 6 119 98 120 6 120 99 120 99 121 6 121 5 121 99 122 5 122 100 122 100 123 5 123 2 123 100 124 2 124 101 124 101 125 2 125 4 125 101 126 4 126 102 126 102 127 4 127 14 127 102 128 14 128 103 128 103 129 14 129 22 129 103 130 22 130 104 130 104 131 22 131 21 131 104 132 21 132 105 132 105 133 21 133 20 133 105 134 20 134 106 134 106 135 20 135 30 135 106 136 30 136 107 136 107 137 30 137 25 137 107 138 25 138 72 138 72 139 25 139 24 139 60 140 108 140 61 140 61 141 108 141 109 141 61 142 109 142 62 142 62 143 109 143 110 143 62 144 110 144 67 144 67 145 110 145 111 145 67 146 111 146 56 146 56 147 111 147 112 147 56 148 112 148 59 148 59 149 112 149 113 149 59 150 113 150 42 150 42 151 113 151 114 151 42 152 114 152 43 152 43 153 114 153 115 153 43 154 115 154 50 154 50 155 115 155 116 155 50 156 116 156 36 156 36 157 116 157 117 157 36 158 117 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247 87 247 88 247 162 248 88 248 163 248 163 249 88 249 89 249 163 250 89 250 164 250 164 251 89 251 90 251 164 252 90 252 165 252 165 253 90 253 91 253 165 254 91 254 166 254 166 255 91 255 92 255 166 256 92 256 167 256 167 257 92 257 93 257 167 258 93 258 168 258 168 259 93 259 94 259 168 260 94 260 169 260 169 261 94 261 95 261 169 262 95 262 170 262 170 263 95 263 96 263 170 264 96 264 171 264 171 265 96 265 97 265 171 266 97 266 172 266 172 267 97 267 98 267 172 268 98 268 173 268 173 269 98 269 99 269 173 270 99 270 174 270 174 271 99 271 100 271 174 272 100 272 175 272 175 273 100 273 101 273 175 274 101 274 176 274 176 275 101 275 102 275 176 276 102 276 177 276 177 277 102 277 103 277 177 278 103 278 178 278 178 279 103 279 104 279 178 280 104 280 179 280 179 281 104 281 105 281 179 282 105 282 144 282 144 283 105 283 106 283 180 284 130 284 181 284 181 285 130 285 129 285 181 286 129 286 182 286 182 287 129 287 128 287 182 288 128 288 183 288 183 289 128 289 127 289 183 290 127 290 184 290 184 291 127 291 126 291 184 292 126 292 185 292 185 293 126 293 125 293 185 294 125 294 186 294 186 295 125 295 124 295 186 296 124 296 187 296 187 297 124 297 123 297 187 298 123 298 188 298 188 299 123 299 122 299 188 300 122 300 189 300 189 301 122 301 121 301 189 302 121 302 190 302 190 303 121 303 120 303 190 304 120 304 191 304 191 305 120 305 119 305 191 306 119 306 192 306 192 307 119 307 118 307 192 308 118 308 193 308 193 309 118 309 117 309 193 310 117 310 194 310 194 311 117 311 116 311 194 312 116 312 195 312 195 313 116 313 115 313 195 314 115 314 196 314 196 315 115 315 114 315 196 316 114 316 197 316 197 317 114 317 113 317 197 318 113 318 198 318 198 319 113 319 112 319 198 320 112 320 199 320 199 321 112 321 111 321 199 322 111 322 200 322 200 323 111 323 110 323 200 324 110 324 201 324 201 325 110 325 109 325 201 326 109 326 202 326 202 327 109 327 108 327 202 328 108 328 203 328 203 329 108 329 143 329 203 330 143 330 204 330 204 331 143 331 142 331 204 332 142 332 205 332 205 333 142 333 141 333 205 334 141 334 206 334 206 335 141 335 140 335 206 336 140 336 207 336 207 337 140 337 139 337 207 338 139 338 208 338 208 339 139 339 138 339 208 340 138 340 209 340 209 341 138 341 137 341 209 342 137 342 210 342 210 343 137 343 136 343 210 344 136 344 211 344 211 345 136 345 135 345 211 346 135 346 212 346 212 347 135 347 134 347 212 348 134 348 213 348 213 349 134 349 133 349 213 350 133 350 214 350 214 351 133 351 132 351 214 352 132 352 215 352 215 353 132 353 131 353 215 354 131 354 180 354 180 355 131 355 130 355 288 500 289 500 290 500 290 501 289 501 291 501 290 502 291 502 292 502 292 503 291 503 293 503 292 504 293 504 294 504 294 505 293 505 295 505 294 506 295 506 296 506 296 507 295 507 297 507 296 508 297 508 298 508 298 509 297 509 299 509 298 510 299 510 300 510 300 511 299 511 301 511 300 512 301 512 302 512 302 513 301 513 303 513 302 514 303 514 304 514 304 515 303 515 305 515 304 516 305 516 306 516 306 517 305 517 307 517 306 518 307 518 308 518 308 519 307 519 309 519 308 520 309 520 310 520 310 521 309 521 311 521 310 522 311 522 312 522 312 523 311 523 313 523 312 524 313 524 314 524 314 525 313 525 315 525 314 526 315 526 316 526 316 527 315 527 317 527 316 528 317 528 318 528 318 529 317 529 319 529 318 530 319 530 320 530 320 531 319 531 321 531 320 532 321 532 322 532 322 533 321 533 323 533 322 534 323 534 324 534 324 535 323 535 325 535 324 536 325 536 326 536 326 537 325 537 327 537 326 538 327 538 328 538 328 539 327 539 329 539 328 540 329 540 330 540 330 541 329 541 331 541 330 542 331 542 332 542 332 543 331 543 333 543 332 544 333 544 334 544 334 545 333 545 335 545 334 546 335 546 336 546 336 547 335 547 337 547 336 548 337 548 338 548 338 549 337 549 339 549 338 550 339 550 340 550 340 551 339 551 341 551 340 552 341 552 342 552 342 553 341 553 343 553 342 554 343 554 344 554 344 555 343 555 345 555 344 556 345 556 346 556 346 557 345 557 347 557 346 558 347 558 348 558 348 559 347 559 349 559 348 560 349 560 350 560 350 561 349 561 351 561 350 562 351 562 352 562 352 563 351 563 353 563 352 564 353 564 354 564 354 565 353 565 355 565 354 566 355 566 356 566 356 567 355 567 357 567 356 568 357 568 358 568 358 569 357 569 359 569 358 570 359 570 288 570 288 571 359 571 289 571</p>
-        </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="robotiq_85_inner_knuckle_link" name="robotiq_85_inner_knuckle_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="#robotiq_85_inner_knuckle_link_001-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material"/>
-              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
+version https://git-lfs.github.com/spec/v1
+oid sha256:186c73c03cb9f0e8dba78dc9378bfd27500a12cccbbff2c034c90672cfea91ec
+size 142310