diff --git a/examples/IRB140/urdf/irb_140_robotiq.urdf b/examples/IRB140/urdf/irb_140_robotiq.urdf
index a2415f4bf268..cbdb1e376f41 100644
--- a/examples/IRB140/urdf/irb_140_robotiq.urdf
+++ b/examples/IRB140/urdf/irb_140_robotiq.urdf
@@ -12,10 +12,9 @@
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!--<geometry>
-        <mesh
-          filename="package://IRB140/urdf/meshes/base_link.stl" />
-      </geometry>-->
+      <geometry>
+        <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
+      </geometry>
       <material name="">
         <color rgba="0.890196078431373 0.411764705882353 0.125490196078431 1"/>
       </material>
@@ -27,6 +26,12 @@
       </geometry>
     </collision>
   </link>
+  <collision_filter_group name="base">
+    <member link="base_link"/>
+  </collision_filter_group>
+  <collision_filter_group name="ignore_base">
+    <member link="link_1"/>
+  </collision_filter_group>
   <link name="link_1">
     <inertial>
       <origin rpy="0 0 0" xyz="0.0281052735195531 -0.263404021764231 0.0438145912936454"/>
@@ -197,7 +202,7 @@
   <joint name="joint6" type="revolute">
     <parent link="link_5"/>
     <child link="link_6"/>
-    <limit effort="300" lower="-6.98131701" upper="-6.98131701" velocity="7.33"/>
+    <limit effort="300" lower="-6.98131701" upper="6.98131701" velocity="7.33"/>
     <axis xyz="1 0 0"/>
     <origin rpy="0 0 0" xyz="0.065 0 0"/>
   </joint>
@@ -334,7 +339,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -349,7 +354,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -364,7 +369,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -379,7 +384,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -394,7 +399,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -409,7 +414,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -424,7 +429,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -666,7 +671,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -681,7 +686,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -696,7 +701,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -711,7 +716,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -726,7 +731,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -741,7 +746,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -756,7 +761,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -998,7 +1003,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1013,7 +1018,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1028,7 +1033,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1043,7 +1048,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1058,7 +1063,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1073,7 +1078,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1088,7 +1093,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
diff --git a/examples/IRB140/urdf/irb_140_robotiq_ati.urdf b/examples/IRB140/urdf/irb_140_robotiq_ati.urdf
index d704172b807b..84d238c74fe8 100644
--- a/examples/IRB140/urdf/irb_140_robotiq_ati.urdf
+++ b/examples/IRB140/urdf/irb_140_robotiq_ati.urdf
@@ -107,7 +107,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -122,7 +122,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -137,7 +137,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -152,7 +152,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -167,7 +167,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -182,7 +182,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -197,7 +197,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -439,7 +439,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -454,7 +454,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -469,7 +469,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -484,7 +484,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -499,7 +499,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -514,7 +514,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -529,7 +529,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -771,7 +771,7 @@
       <geometry>
         <cylinder length=".02858" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -786,7 +786,7 @@
       <geometry>
         <cylinder length=".05398" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -801,7 +801,7 @@
       <geometry>
         <cylinder length=".01473" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -816,7 +816,7 @@
       <geometry>
         <cylinder length=".02222" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -831,7 +831,7 @@
       <geometry>
         <cylinder length=".03810" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -846,7 +846,7 @@
       <geometry>
         <cylinder length=".01270" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -861,7 +861,7 @@
       <geometry>
         <cylinder length=".015236" radius="0.001"/>
       </geometry>
-      <material>
+      <material name="fourbar">
         <color rgba=".6353 .6353 .6353 1"/>
       </material>
     </visual>
@@ -1056,10 +1056,9 @@
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <!--<geometry>
-        <mesh
-          filename="package://IRB140/urdf/meshes/base_link.stl" />
-      </geometry>-->
+      <geometry>
+        <mesh filename="package://IRB140/urdf/meshes/base_link.stl"/>
+      </geometry>
       <material name="">
         <color rgba="0.890196078431373 0.411764705882353 0.125490196078431 1"/>
       </material>
@@ -1071,6 +1070,12 @@
       </geometry>
     </collision>
   </link>
+  <collision_filter_group name="base">
+    <member link="base_link"/>
+  </collision_filter_group>
+  <collision_filter_group name="ignore_base">
+    <member link="link_1"/>
+  </collision_filter_group>
   <link name="link_1">
     <inertial>
       <origin rpy="0 0 0" xyz="0.0281052735195531 -0.263404021764231 0.0438145912936454"/>
@@ -1241,7 +1246,7 @@
   <joint name="joint6" type="revolute">
     <parent link="link_5"/>
     <child link="link_6"/>
-    <limit effort="300" lower="-6.98131701" upper="-6.98131701" velocity="7.33"/>
+    <limit effort="300" lower="-6.98131701" upper="6.98131701" velocity="7.33"/>
     <axis xyz="1 0 0"/>
     <origin rpy="0 0 0" xyz="0.065 0 0"/>
   </joint>