diff --git a/models/robots/schunk_pg70/eigen/eigen.xml b/models/robots/schunk_pg70/eigen/eigen.xml
new file mode 100644
index 0000000000..a5a9f684bb
--- /dev/null
+++ b/models/robots/schunk_pg70/eigen/eigen.xml
@@ -0,0 +1,14 @@
+
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diff --git a/models/robots/schunk_pg70/iv/pg70_base_link.iv b/models/robots/schunk_pg70/iv/pg70_base_link.iv
new file mode 100644
index 0000000000..369bea6f50
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_base_link.iv
@@ -0,0 +1,52409 @@
+#Inventor V2.1 ascii
+
+
+DEF _pg70_base_link Separator {
+
+ Separator {
+
+ Transform {
+ translation -0 -0 -0
+ rotation 0 0 1 0
+ scaleFactor 1 1 1
+ scaleOrientation 0 0 1 0
+
+ }
+ DEF _visual_0_pg70_base_link Separator {
+
+ DEF Gripper_Schunk Separator {
+
+ Transform {
+ translation 5.83816e-005 0.049030859 -0.00051178294
+ rotation -1 0 0 1.5707964
+ scaleFactor 1.0125 1 1.2179489
+
+ }
+ Separator {
+
+ Material {
+ ambientColor 0.2 0.2 0.2
+ diffuseColor 0.5 0.5 0.5
+ specularColor 0 0 0
+ emissiveColor 0 0 0
+ shininess 0.2
+ transparency 0
+
+ }
+ DEF Gripper_Schunk IndexedTriangleStripSet {
+ vertexProperty
+ VertexProperty {
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diff --git a/models/robots/schunk_pg70/iv/pg70_base_link.xml b/models/robots/schunk_pg70/iv/pg70_base_link.xml
new file mode 100644
index 0000000000..ef211cab9a
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_base_link.xml
@@ -0,0 +1,8 @@
+
+
+ plastic
+ 2000
+ 0.019 -0.347 28.892
+ 0.002 0 0 0 0.001 0 0 0 0.002
+ pg70_base_link.iv
+
diff --git a/models/robots/schunk_pg70/iv/pg70_finger1_link.iv b/models/robots/schunk_pg70/iv/pg70_finger1_link.iv
new file mode 100644
index 0000000000..ce3db1c10e
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_finger1_link.iv
@@ -0,0 +1,1808 @@
+#Inventor V2.1 ascii
+
+
+DEF _pg70_finger1_link Separator {
+
+ Material {
+ ambientColor 0.2 0.2 0.2
+ diffuseColor 1 0 0
+ transparency 0
+
+ }
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+
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+ 0 0 -1 0
+ 0 0 0 1
+
+ }
+ Cube {
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+ height 10
+ depth 10
+
+ }
+ }
+ Separator {
+
+ Transform {
+ translation -15 -45 2.5
+ rotation 0.70710677 0 0.70710677 3.1415927
+ scaleFactor 1 1 1
+ scaleOrientation 0 0 1 0
+
+ }
+ DEF _visual_1_pg70_finger1_link Separator {
+
+ DEF _ Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 0
+ scaleFactor 1000 1000 1000
+
+ }
+ Material {
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+ diffuseColor 1 1 1
+ specularColor 0 0 0
+ emissiveColor 0 0 0
+ shininess 0.2
+ transparency 0
+
+ }
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diff --git a/models/robots/schunk_pg70/iv/pg70_finger1_link.xml b/models/robots/schunk_pg70/iv/pg70_finger1_link.xml
new file mode 100644
index 0000000000..aecc311c92
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_finger1_link.xml
@@ -0,0 +1,8 @@
+
+
+ plastic
+ 1
+ 0 0 0
+ 1 0 0 0 1 0 0 0 1
+ pg70_finger1_link.iv
+
diff --git a/models/robots/schunk_pg70/iv/pg70_finger2_link.iv b/models/robots/schunk_pg70/iv/pg70_finger2_link.iv
new file mode 100644
index 0000000000..2885839c63
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_finger2_link.iv
@@ -0,0 +1,1808 @@
+#Inventor V2.1 ascii
+
+
+DEF _pg70_finger2_link Separator {
+
+ Material {
+ ambientColor 0.2 0.2 0.2
+ diffuseColor 1 0 0
+ transparency 0
+
+ }
+ Separator {
+
+ MatrixTransform {
+ matrix 1 0 0 0
+ 0 1 0 0
+ 0 0 1 0
+ 0 0 0 1
+
+ }
+ Cube {
+ width 30
+ height 10
+ depth 10
+
+ }
+ }
+ Separator {
+
+ Transform {
+ translation 15 45 2.5
+ rotation 0 -1 0 1.5707964
+ scaleFactor 1 1 1
+ scaleOrientation 0 0 1 0
+
+ }
+ DEF _visual_1_pg70_finger2_link Separator {
+
+ DEF _ Separator {
+
+ Transform {
+ translation 0 0 0
+ rotation 0 0 1 0
+ scaleFactor 1000 1000 1000
+
+ }
+ Material {
+ ambientColor 0.2 0.2 0.2
+ diffuseColor 1 1 1
+ specularColor 0 0 0
+ emissiveColor 0 0 0
+ shininess 0.2
+ transparency 0
+
+ }
+ IndexedTriangleStripSet {
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diff --git a/models/robots/schunk_pg70/iv/pg70_finger2_link.xml b/models/robots/schunk_pg70/iv/pg70_finger2_link.xml
new file mode 100644
index 0000000000..4950173e8f
--- /dev/null
+++ b/models/robots/schunk_pg70/iv/pg70_finger2_link.xml
@@ -0,0 +1,8 @@
+
+
+ plastic
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diff --git a/models/robots/schunk_pg70/schunk_pg70.xml b/models/robots/schunk_pg70/schunk_pg70.xml
new file mode 100644
index 0000000000..f73037420c
--- /dev/null
+++ b/models/robots/schunk_pg70/schunk_pg70.xml
@@ -0,0 +1,54 @@
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new file mode 100644
index 0000000000..8c5f207269
--- /dev/null
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diff --git a/models/robots/schunk_pg70/virtual/contacts.xml b/models/robots/schunk_pg70/virtual/contacts.xml
new file mode 100644
index 0000000000..c337df6c7d
--- /dev/null
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\ No newline at end of file
diff --git a/models/robots/schunk_pg70/virtual/minimum_contacts.xml b/models/robots/schunk_pg70/virtual/minimum_contacts.xml
new file mode 100644
index 0000000000..619dd40400
--- /dev/null
+++ b/models/robots/schunk_pg70/virtual/minimum_contacts.xml
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