This folder contains the meshes and URDF files of the objects. dVRK meshes are modified from AMBF. Note that PyBullet computes the forward and inverse kinematics when the links are in sequential order, which is not the property in the original AMBF files. So we modify the link frames to enable this feature. Besides, most of the objects are modeled using Blender. Furthermore, to make the physics simulation more stable, especially if there are physical contacts, we use V-HACD to decompose the visual meshes into convex parts for the collision computation.