Warwickshire County Cricket Club took a lead over Middlesex on the third day of the County Championship game at Lords.
Middlesex resumed on 39-1 and lost Robson who was caught by Chopra off the bowling of Chris Wright.
Eoin Morgan and Nic Compton added seventy before Morgan went for 44, caught by Ateeq Javid to give Keith Barker a wicket.
Ricky Clarke bowled Franklin who had not troubled the scorers but Compton and Dexter were able to add 69 before Boyd Rankin had Compton caught by Jonathan Trott for 74.
Middlesex were now on 192-5 and seven runs later, Jeetan Patal chipped in with the wicket of Simpson before Clarke quickly removed Rayner and Harris
Toby Roland-Jones had made 32 in a partnership with Dexter but he was caught by Webb to give Rankin a second wicket which became three when Rankin trapped Finn lbw to see Middlesex all out for 260, some 82 runs behind.
In their second innings, Warwicks were 58-2 at stumps having lost Javid for eight and Webb for four.