simplified wsg_50 mesh files added

wsg_50_description/LICENSE

@@ -0,0 +1,26 @@
+Copyright 2020 Toyota Research Institute
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

wsg_50_description/README.md

@@ -0,0 +1,17 @@
+# Schunk WSG50 Meshes
+
+## Attribution 
+
+All files under `./meshes` were created in CAD using Schunk's drawing
+in the [product catalog](https://schunk.com/fileadmin/pim/docs/IM0026091.PDF) (WSG 050-110-P model). Please see `LICENSE` for more information.
+
+Note that these models are not based off [Schunk's provided CAD model](https://schunk.partcommunity.com/3d-cad-models/wsg-electrical-2-finger-parallel-gripper-universal-gripper-schunk?info=schunk%2Fgreifsysteme_neu%2Fschunk_greifer_neu%2Fparallelgreifer_neu%2Fwsg_asm_at.prj&cwid=7511) due to [licensing problems with CADENAS](https://www.cadenas.de/terms-of-use-3d-cad-models).
+
+The `.obj` files were converted in Blender from `.stl` files, which were
+exported from Solidworks using the CAD files.
+
+## Disclaimer 
+
+As this is only based on Schunk's drawing files (not the CAD file), the dimensions of the model are accurate only up to the published dimensions in the drawing. Some details such as hole dimensions may not be entirely accurate.  
+
+