diff --git a/kine_ctrl/urdf_rm75/Dual_arm.urdf b/kine_ctrl/urdf_rm75/Dual_arm.urdf
new file mode 100644
index 0000000..f0bb9ad
--- /dev/null
+++ b/kine_ctrl/urdf_rm75/Dual_arm.urdf
@@ -0,0 +1,555 @@
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diff --git a/kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf b/kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf
new file mode 100644
index 0000000..794ed40
--- /dev/null
+++ b/kine_ctrl/urdf_rm75/RM75-OmniPicker.urdf
@@ -0,0 +1,507 @@
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diff --git a/kine_ctrl/urdf_rm75/meshes/OmniPic.stl b/kine_ctrl/urdf_rm75/meshes/OmniPic.stl
new file mode 100644
index 0000000..78d59d3
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/OmniPic.stl differ
diff --git a/kine_ctrl/urdf_rm75/meshes/OmniPic_original.stl b/kine_ctrl/urdf_rm75/meshes/OmniPic_original.stl
new file mode 100644
index 0000000..0d1dacd
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/OmniPic_original.stl differ
diff --git a/kine_ctrl/urdf_rm75/meshes/dual_arm_base.stl b/kine_ctrl/urdf_rm75/meshes/dual_arm_base.stl
new file mode 100644
index 0000000..ff57286
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/dual_arm_base.stl differ
diff --git a/kine_ctrl/urdf_rm75/meshes/dual_arm_base_original.stl b/kine_ctrl/urdf_rm75/meshes/dual_arm_base_original.stl
new file mode 100644
index 0000000..150bb38
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/dual_arm_base_original.stl differ
diff --git a/kine_ctrl/urdf_rm75/meshes/scissor.stl b/kine_ctrl/urdf_rm75/meshes/scissor.stl
new file mode 100644
index 0000000..ca8fc8b
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/scissor.stl differ
diff --git a/kine_ctrl/urdf_rm75/meshes/scissor_original.stl b/kine_ctrl/urdf_rm75/meshes/scissor_original.stl
new file mode 100644
index 0000000..3a8de28
Binary files /dev/null and b/kine_ctrl/urdf_rm75/meshes/scissor_original.stl differ