diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/finger.obj b/robots/franka_shadow_hand/urdf/franka_meshes/collision/finger.obj
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index 0000000000000000000000000000000000000000..7dfb1c20cc695f7855c4dea049068207e7746aab
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+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/finger.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..ef5e672efbb990561b36fcee2c15b2f61cf42065
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+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/finger.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..7412eb8ed75e7b288d29bc84c16fffe45dcde56d
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..b7e855112619448e2cf63660e07387871de542ac
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.obj b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link6.obj
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index 0000000000000000000000000000000000000000..3b72452079345141e577c5a022cf1618d3eab246
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.obj b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.obj
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index 0000000000000000000000000000000000000000..705a6ddad1f577facb2eaba11bb98da41f8314e3
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+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl
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index 0000000000000000000000000000000000000000..2047756ec662f051af90fe61266998bf16e655fe
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/link7.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10084
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..67e0b6ea26a003e50d17ba472f8a46f621d3cb79
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.bat
@@ -0,0 +1,5 @@
+REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx"
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..0b6fbb6b3f005de3ad10029906ede760f2ad6606
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/collision/stltoobj.mlx
@@ -0,0 +1,20 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Remove Duplicate Vertices"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Remove Faces from Non Manifold Edges"/>
+ <filter name="Split Vertexes Incident on Non Manifold Faces">
+  <Param tooltip="When a vertex is split it is moved along the average vector going from its position to the baricyenter of the FF connected faces sharing it" value="0" type="RichFloat" name="VertDispRatio" description="Vertex Displacement Ratio"/>
+ </filter>
+ <filter name="Select non Manifold Vertices"/>
+ <filter name="Delete Selected Vertices"/>
+ <filter name="Cut mesh along crease edges">
+  <Param tooltip="If the angle between the normals of two adjacent faces is &lt;b>larger&lt;/b> that this threshold the edge is considered a creased and the mesh is cut along it." value="20" type="RichFloat" name="angleDeg" description="Crease Angle (degree)"/>
+ </filter>
+ <filter name="Re-Compute Vertex Normals">
+  <Param tooltip="" value="0" type="RichEnum" name="weightMode" enum_val1="By Angle" enum_cardinality="4" enum_val2="By Area" enum_val3="As defined by N. Max" description="Weighting Mode:" enum_val0="None (avg)"/>
+ </filter>
+</FilterScript>
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c7172ff4e24de694e8b4a1ee3d5d1ad3f39a6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.bat
@@ -0,0 +1,5 @@
+SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
+forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
+
+REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
+REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..a72957a82cc8db27f30115056e85ff4d797d5b99
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/daetoobj.mlx
@@ -0,0 +1,4 @@
+<!DOCTYPE FilterScript>
+<FilterScript>
+ <filter name="Convert PerWedge UV into PerVertex UV"/>
+</FilterScript>
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b49b20aab47d023bb5818e8cdc279c0e9ac85bf4
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a447a9943ed4b0385b228de49409b71fe603ebff7c12bcbc0ea6e16206ff62
+size 51124
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c63fce760e7eb0f931ff52eca03adb804d0aa744
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl Part__Feature001_006
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.250000 0.250000 0.250000
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+
+newmtl Part__Feature_007
+Ns -1.960784
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+Ks 0.250000 0.250000 0.250000
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diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj
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index 0000000000000000000000000000000000000000..71b83987ab63fe862481ef95d65eb26461ae4cea
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/finger.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7d38f85c14bcb6d1fcf2bfadb70329bb0f3b352c02dd03d7f5baed15f3f954
+size 48085
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.dae b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.dae
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index 0000000000000000000000000000000000000000..3ec9dab7a3e3aede96e7fe6c6085baef6f1d8cb5
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01259e1c53b158db0e304b5da131a9fd1f5205f273d5e2300aec839375e671de
+size 548950
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl
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index 0000000000000000000000000000000000000000..53ddbc0c254c77f94cd383daf5ec65cbc03d81b6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.mtl
@@ -0,0 +1,52 @@
+# Blender MTL File: 'None'
+# Material Count: 5
+
+newmtl Part__Feature001_008_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
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+
+newmtl Part__Feature002_005_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Feature005_001_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.015625 0.015625 0.015625
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+illum 2
+
+newmtl Part__Feature005_001_005_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
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+Ke 0.000000 0.000000 0.000000
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+d 1.000000
+illum 2
+
+newmtl Part__Feature_009_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
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+illum 2
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d700f4cb2b19826472e68848aa685bdb91f550fd
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/hand.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c572a8071796245b1d30dfff565e41c780ca711462884977ca3969b4baeecdd
+size 483975
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.dae b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.dae
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index 0000000000000000000000000000000000000000..2230909c7f1d9b40d21d161a2d29d54df9829a34
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8520232d4fc2cff0a5d4e360c9bf1be10b3be6bb4327cfb26356e1051b5d2e10
+size 1590897
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl
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index 0000000000000000000000000000000000000000..c6a731a393e6eadaeb14c872e80649dc7b7a2e36
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link0.mtl
@@ -0,0 +1,122 @@
+# Blender MTL File: 'None'
+# Material Count: 12
+
+newmtl Face636_001
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index 0000000000000000000000000000000000000000..ef431a9f763ce45ec48c3bf1f705b1ea9584eea6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link6.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d37a43fb5be9c8da3b87627c7cba1de1950db8011567ea1571579855427a50
+size 1547955
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.dae b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.dae
new file mode 100644
index 0000000000000000000000000000000000000000..b6ceb0137416da5ca41a6f91935abcc082e66469
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71740e23b6bb12cc5a535905b516fe27ec401616704c7869c1d607255f778b67
+size 935953
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.mtl b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52366ba564901070e2ee1173644528071ab6d7fb
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.mtl
@@ -0,0 +1,82 @@
+# Blender MTL File: 'None'
+# Material Count: 8
+
+newmtl Part__Mirroring001_004_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.015625 0.015625 0.015625
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring002_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring003_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring004_004_002
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring005_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring006_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring007_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Part__Mirroring_004_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.031250 0.031250 0.031250
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.obj b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c69dad3a16f79bfea3cf8ae7f89e65981f94e1ec
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_meshes/visual/link7.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93c8ba32b58e82749baf086f1049b0930891763678e284270bb99978763d873b
+size 868368
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b26b7789902c8fea4cde99ea9fd361f577f1a08a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
@@ -0,0 +1,893 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link7"/>
+    <child link="forearm"/>
+    <origin rpy="0 0 0.78539816" xyz="0 0 0.107"/>
+  </joint>
+  <link name="forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09" />
+      <mass value="3.0" />
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="shadow_forearm_geom">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="shadow_forearm_collision">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ2" type="revolute">
+    <parent link="forearm" />
+    <child link="wrist" />
+
+    <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
+    <axis xyz="0 1 0" />
+    <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.07453292519943295" upper="0.07453292519943295" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.0" />
+
+      <mass value="0.1" />
+      <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_visual">
+        <mesh filename="package://meshes/wrist.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_collision_geom">
+        <mesh filename="package://meshes/wrist.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035" />
+      <mass value="0.3" />
+      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="palm_visual">
+        <mesh filename="package://meshes/palm_left.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0.00 0 0.0" />
+      <geometry name="palm_collision_geom">
+        <mesh filename="package://meshes/palm_left.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ1" type="revolute">
+    <parent link="wrist" />
+    <child link="palm" />
+    <origin rpy="0 0 0" xyz="0 0 0.034" />
+    <axis xyz="1 0 0" />
+    <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.000" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="ffknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.033 0 0.095" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ3" type="revolute">
+    <parent link="ffknuckle" />
+    <child link="ffproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ2" type="revolute">
+    <parent link="ffproximal" />
+    <child link="ffmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ1" type="revolute">
+    <parent link="ffmiddle" />
+    <child link="ffdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="mfknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.011 0 0.099" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ3" type="revolute">
+    <parent link="mfknuckle" />
+    <child link="mfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ2" type="revolute">
+    <parent link="mfproximal" />
+    <child link="mfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ1" type="revolute">
+    <parent link="mfmiddle" />
+    <child link="mfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="rfknuckle" />
+
+    <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ3" type="revolute">
+    <parent link="rfknuckle" />
+    <child link="rfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ2" type="revolute">
+    <parent link="rfproximal" />
+    <child link="rfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ1" type="revolute">
+    <parent link="rfmiddle" />
+    <child link="rfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04" />
+      <mass value="0.075" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="lfmetacarpal_visual">
+        <mesh filename="package://meshes/lfmetacarpal.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="lfmetacarpal_collision_geom">
+        <mesh filename="package://meshes/lfmetacarpal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ5" type="revolute">
+    <parent link="palm" />
+    <child link="lfmetacarpal" />
+    <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
+    <axis xyz="-0.573576436 0 -0.819152044" />
+    <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.06579" />
+      <mass value="0.008" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ4" type="revolute">
+    <parent link="lfmetacarpal" />
+    <child link="lfknuckle" />
+    <origin rpy="0 0 0" xyz="0 0 0.06579" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ3" type="revolute">
+    <parent link="lfknuckle" />
+    <child link="lfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ2" type="revolute">
+    <parent link="lfproximal" />
+    <child link="lfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ1" type="revolute">
+    <parent link="lfmiddle" />
+    <child link="lfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thbase">
+    <inertial>
+      <mass value="0.010" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thbase_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thbase_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ5" type="revolute">
+    <parent link="palm" />
+    <child link="thbase" />
+    <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
+    <axis xyz="0 0 1.0" />
+    <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thproximal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.019" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thproximal_visual">
+        <mesh filename="package://meshes/TH3_z.obj"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="thproximal_collision_geom">
+        <mesh filename="package://meshes/TH3_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ4" type="revolute">
+    <parent link="thbase" />
+    <child link="thproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1.0 0 0" />
+    <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thhub">
+    <inertial>
+      <mass value="0.002" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thhub_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thhub_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ3" type="revolute">
+    <parent link="thproximal" />
+    <child link="thhub" />
+    <origin rpy="0 0 0" xyz="0 0 0.038" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thmiddle">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.016" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thmiddle_visual">
+        <mesh filename="package://meshes/TH2_z.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="package://meshes/TH2_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ2" type="revolute">
+    <parent link="thhub" />
+    <child link="thmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thdistal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.01375" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <geometry name="thdistal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ1" type="revolute">
+    <parent link="thmiddle" />
+    <child link="thdistal" />
+    <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+</robot>
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c73e680f1a634d68df8fa4d63f86f6050af7386
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
@@ -0,0 +1,893 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link7"/>
+    <child link="forearm"/>
+    <origin rpy="0 0 -2.35619449" xyz="0 0 0.107"/>
+  </joint>
+  <link name="forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09" />
+      <mass value="3.0" />
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="shadow_forearm_geom">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="shadow_forearm_collision">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ2" type="revolute">
+    <parent link="forearm" />
+    <child link="wrist" />
+
+    <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
+    <axis xyz="0 1 0" />
+    <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.02359877559829882" upper="0.07453292519943295" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.0" />
+
+      <mass value="0.1" />
+      <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_visual">
+        <mesh filename="package://meshes/wrist.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_collision_geom">
+        <mesh filename="package://meshes/wrist.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035" />
+      <mass value="0.3" />
+      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="palm_visual">
+        <mesh filename="package://meshes/palm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00 0 0.0" />
+      <geometry name="palm_collision_geom">
+        <mesh filename="package://meshes/palm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ1" type="revolute">
+    <parent link="wrist" />
+    <child link="palm" />
+    <origin rpy="0 0 0" xyz="0 0 0.034" />
+    <axis xyz="1 0 0" />
+    <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="ffknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.033 0 0.095" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ3" type="revolute">
+    <parent link="ffknuckle" />
+    <child link="ffproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ2" type="revolute">
+    <parent link="ffproximal" />
+    <child link="ffmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ1" type="revolute">
+    <parent link="ffmiddle" />
+    <child link="ffdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="mfknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.011 0 0.099" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ3" type="revolute">
+    <parent link="mfknuckle" />
+    <child link="mfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ2" type="revolute">
+    <parent link="mfproximal" />
+    <child link="mfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ1" type="revolute">
+    <parent link="mfmiddle" />
+    <child link="mfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="rfknuckle" />
+
+    <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ3" type="revolute">
+    <parent link="rfknuckle" />
+    <child link="rfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ2" type="revolute">
+    <parent link="rfproximal" />
+    <child link="rfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ1" type="revolute">
+    <parent link="rfmiddle" />
+    <child link="rfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04" />
+      <mass value="0.075" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="lfmetacarpal_visual">
+        <mesh filename="package://meshes/lfmetacarpal.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="lfmetacarpal_collision_geom">
+        <mesh filename="package://meshes/lfmetacarpal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ5" type="revolute">
+    <parent link="palm" />
+    <child link="lfmetacarpal" />
+    <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
+    <axis xyz="0.573576436 0 0.819152044" />
+    <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.06579" />
+      <mass value="0.008" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="knuckle_visual">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="package://meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ4" type="revolute">
+    <parent link="lfmetacarpal" />
+    <child link="lfknuckle" />
+    <origin rpy="0 0 0" xyz="0 0 0.06579" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="package://meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ3" type="revolute">
+    <parent link="lfknuckle" />
+    <child link="lfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="package://meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ2" type="revolute">
+    <parent link="lfproximal" />
+    <child link="lfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ1" type="revolute">
+    <parent link="lfmiddle" />
+    <child link="lfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thbase">
+    <inertial>
+      <mass value="0.010" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thbase_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0" />
+      <geometry name="thbase_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ5" type="revolute">
+    <parent link="palm" />
+    <child link="thbase" />
+    <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
+    <axis xyz="0 0 -1.0" />
+    <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thproximal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.019" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thproximal_visual">
+        <mesh filename="package://meshes/TH3_z.obj"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="thproximal_collision_geom">
+        <mesh filename="package://meshes/TH3_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ4" type="revolute">
+    <parent link="thbase" />
+    <child link="thproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1.0 0 0" />
+    <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thhub">
+    <inertial>
+      <mass value="0.002" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thhub_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0" />
+      <geometry name="thhub_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ3" type="revolute">
+    <parent link="thproximal" />
+    <child link="thhub" />
+    <origin rpy="0 0 0" xyz="0 0 0.038" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thmiddle">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.016" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thmiddle_visual">
+        <mesh filename="package://meshes/TH2_z.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="package://meshes/TH2_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ2" type="revolute">
+    <parent link="thhub" />
+    <child link="thmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thdistal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.01375" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
+      <geometry name="thdistal_visual">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="package://meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ1" type="revolute">
+    <parent link="thmiddle" />
+    <child link="thdistal" />
+    <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+</robot>
diff --git a/robots/franka_shadow_hand/urdf/meshes/F1.dae b/robots/franka_shadow_hand/urdf/meshes/F1.dae
new file mode 100755
index 0000000000000000000000000000000000000000..fe3ef32714a452328985a0266dc785724d7d8937
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F1.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101b4e89f755a4df4673b3e4e05ddb4bc9997640b0dab7538e0717f2cd3cca3a
+size 30339
diff --git a/robots/franka_shadow_hand/urdf/meshes/F1.obj b/robots/franka_shadow_hand/urdf/meshes/F1.obj
new file mode 100755
index 0000000000000000000000000000000000000000..41ffe00a820be28f5d70f57abc8e1cd379bf6240
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7e0f492d9399b3e61911000a820f0a9916d632b6505018c5bd042351aecb3b
+size 18606
diff --git a/robots/franka_shadow_hand/urdf/meshes/F2.dae b/robots/franka_shadow_hand/urdf/meshes/F2.dae
new file mode 100755
index 0000000000000000000000000000000000000000..4a0dd6972e9e19ab867ee638677ad3fb9a0456ba
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48af72815b76601818d5797f088d69fb5695e1c81820a67c447abf5a11b389fd
+size 46979
diff --git a/robots/franka_shadow_hand/urdf/meshes/F2.obj b/robots/franka_shadow_hand/urdf/meshes/F2.obj
new file mode 100755
index 0000000000000000000000000000000000000000..2e97615d6b5392bee54d29ab58a317d5b351465d
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a43be065da658740c9548ef5bbeb6c14054926874cc8ef6e1620f48a3944bddd
+size 25616
diff --git a/robots/franka_shadow_hand/urdf/meshes/F3.dae b/robots/franka_shadow_hand/urdf/meshes/F3.dae
new file mode 100755
index 0000000000000000000000000000000000000000..55938cb007907132d995ebf5812ea1968803b46e
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0a962dd16dfb6662a178be9fb34bd2b4967c684971220039b962c965a8b1bef
+size 81010
diff --git a/robots/franka_shadow_hand/urdf/meshes/F3.obj b/robots/franka_shadow_hand/urdf/meshes/F3.obj
new file mode 100755
index 0000000000000000000000000000000000000000..b35a61de52453d5b56611a20e5d928a1f4f88523
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/F3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fae42f857aeb7417d7ef0540f0087139ae064cae9b717fc1f570ed2950aec45d
+size 64447
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..e866f4d90569dfc972eca7ef96c19d4ce3389060
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH1_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82720fa6c4b2ad038703e0ed1db4fd12f149e67ca9fd5cbb4961385ef6676a1c
+size 40833
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..e2ce5b632405338029f3b919b011cba3141e50a0
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH1_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6edf94156921358e6912743d05e5476894b815c39c766934a1190ad40713b0
+size 6300
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..4233c0f3b806d80acb50deb1a2f0de7c0f441ba6
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH2_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10588fb109dffc4a13e657f4b7ee50d13a47cd5b268e0d31ed408649703bb42c
+size 116354
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..fcf66d85e8ba439a4e2e151dfc614ab5eff5093e
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH2_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:957d7e442971185a035a995852b1f681f566da210377153ea920ce3e724da221
+size 74423
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae b/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae
new file mode 100755
index 0000000000000000000000000000000000000000..8221ee8f1f5def430d676862a559e542405f364a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH3_z.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:069986aa8438a9dd105248d8263a4a3b7a3e1864d2a120ee25a70e2fd37e1043
+size 87821
diff --git a/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj b/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj
new file mode 100755
index 0000000000000000000000000000000000000000..11ed3414722d6227633edc79846d2c957e1fc359
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/TH3_z.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d6dc4f4676721e8ea3bed7c50e9819d18f71048e2d31ba78b2dfdceaeb3806
+size 23566
diff --git a/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae b/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae
new file mode 100755
index 0000000000000000000000000000000000000000..baaaad96d0c65a4fc8d57a7f140ce1eb87fafd0a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/biotac_decimated.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8ad1c45713c94d3814ef5f6aefaa78ac137055b9bc125fb82a7a769c5b9e0f0
+size 227374
diff --git a/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae b/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae
new file mode 100755
index 0000000000000000000000000000000000000000..498b68067ca7c8a63074aad54c7346fe2d1957d5
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/biotac_thumb_adapter.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8671bb5be8c9ddf1a1d2b42895521e7463274ed3638e4290273a26af18acaa49
+size 856071
diff --git a/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py b/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py
new file mode 100755
index 0000000000000000000000000000000000000000..94cf6a817d1d2fd165ebdd45e8a05485abf9d21b
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/convert_dae2obj.py
@@ -0,0 +1,6 @@
+from pyassimp import *
+scene = load('F2.dae')
+
+print('loading the scene')
+release(scene)
+
diff --git a/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae
new file mode 100755
index 0000000000000000000000000000000000000000..f780049b715f6d5adacaaa86f8d82c0fac847e1f
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a1a0388fc561515914ce5891864cee312a8e2aafe009197aa240388f425dcf
+size 68635
diff --git a/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj
new file mode 100755
index 0000000000000000000000000000000000000000..4bb93d964483d2a5711282da478d3f847c23404a
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/distal_ellipsoid.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cea9b8dfed62d678618e4a79420f31224ad546d78e3fce71aec8f8a7be09ec
+size 56989
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm.dae b/robots/franka_shadow_hand/urdf/meshes/forearm.dae
new file mode 100755
index 0000000000000000000000000000000000000000..f8308174c701d0b3afde00d8ae9df3c549a5f5b2
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4416710a2ceab0f0a5a8c90da1767beb19da6d5fb65480a4cd569042383fc539
+size 202078
diff --git a/robots/franka_shadow_hand/urdf/meshes/forearm.obj b/robots/franka_shadow_hand/urdf/meshes/forearm.obj
new file mode 100755
index 0000000000000000000000000000000000000000..4d5e3b6c4c95b46194b57311756f98ea29385252
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/forearm.obj
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_shadow_hand/urdf/shadow_left.urdf b/robots/franka_shadow_hand/urdf/shadow_left.urdf
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index 0000000000000000000000000000000000000000..e7ef4c26c5dd3d3ede9d535df7316f651a1199d9
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+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ 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 Shadow Robot Company Ltd 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 Shadow Robot Company Ltd "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 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.
+-->
+<robot name="shadow_left">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="forearm"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09" />
+      <mass value="3.0" />
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="shadow_forearm_geom">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="shadow_forearm_collision">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ2" type="revolute">
+    <parent link="forearm" />
+    <child link="wrist" />
+
+    <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
+    <axis xyz="0 1 0" />
+    <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.07453292519943295" upper="0.07453292519943295" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.0" />
+
+      <mass value="0.1" />
+      <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_visual">
+        <mesh filename="meshes/wrist.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_collision_geom">
+        <mesh filename="meshes/wrist.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035" />
+      <mass value="0.3" />
+      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="palm_visual">
+        <mesh filename="meshes/palm_left.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0.00 0 0.0" />
+      <geometry name="palm_collision_geom">
+        <mesh filename="meshes/palm_left.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ1" type="revolute">
+    <parent link="wrist" />
+    <child link="palm" />
+    <origin rpy="0 0 0" xyz="0 0 0.034" />
+    <axis xyz="1 0 0" />
+    <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.000" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="ffknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.033 0 0.095" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ3" type="revolute">
+    <parent link="ffknuckle" />
+    <child link="ffproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ2" type="revolute">
+    <parent link="ffproximal" />
+    <child link="ffmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ1" type="revolute">
+    <parent link="ffmiddle" />
+    <child link="ffdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="mfknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.011 0 0.099" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ3" type="revolute">
+    <parent link="mfknuckle" />
+    <child link="mfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
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+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ2" type="revolute">
+    <parent link="mfproximal" />
+    <child link="mfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
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+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ1" type="revolute">
+    <parent link="mfmiddle" />
+    <child link="mfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
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+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
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+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="rfknuckle" />
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+    <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
+    <axis xyz="0 -1 0" />
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+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ3" type="revolute">
+    <parent link="rfknuckle" />
+    <child link="rfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ2" type="revolute">
+    <parent link="rfproximal" />
+    <child link="rfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ1" type="revolute">
+    <parent link="rfmiddle" />
+    <child link="rfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04" />
+      <mass value="0.075" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="lfmetacarpal_visual">
+        <mesh filename="meshes/lfmetacarpal.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="lfmetacarpal_collision_geom">
+        <mesh filename="meshes/lfmetacarpal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ5" type="revolute">
+    <parent link="palm" />
+    <child link="lfmetacarpal" />
+    <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
+    <axis xyz="-0.573576436 0 -0.819152044" />
+    <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.06579" />
+      <mass value="0.008" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ4" type="revolute">
+    <parent link="lfmetacarpal" />
+    <child link="lfknuckle" />
+    <origin rpy="0 0 0" xyz="0 0 0.06579" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ3" type="revolute">
+    <parent link="lfknuckle" />
+    <child link="lfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ2" type="revolute">
+    <parent link="lfproximal" />
+    <child link="lfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ1" type="revolute">
+    <parent link="lfmiddle" />
+    <child link="lfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thbase">
+    <inertial>
+      <mass value="0.010" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thbase_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thbase_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ5" type="revolute">
+    <parent link="palm" />
+    <child link="thbase" />
+    <origin rpy="0 0.785398163397 0" xyz="0.034 0.0085 0.029" />
+    <axis xyz="0 0 1.0" />
+    <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thproximal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.019" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thproximal_visual">
+        <mesh filename="meshes/TH3_z.obj"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="thproximal_collision_geom">
+        <mesh filename="meshes/TH3_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ4" type="revolute">
+    <parent link="thbase" />
+    <child link="thproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="-1.0 0 0" />
+    <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thhub">
+    <inertial>
+      <mass value="0.002" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thhub_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thhub_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ3" type="revolute">
+    <parent link="thproximal" />
+    <child link="thhub" />
+    <origin rpy="0 0 0" xyz="0 0 0.038" />
+    <axis xyz="-1 0 0" />
+    <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thmiddle">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.016" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0 0" />
+      <geometry name="thmiddle_visual">
+        <mesh filename="meshes/TH2_z.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0 0.0" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="meshes/TH2_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ2" type="revolute">
+    <parent link="thhub" />
+    <child link="thmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thdistal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.01375" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <geometry name="thdistal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ1" type="revolute">
+    <parent link="thmiddle" />
+    <child link="thdistal" />
+    <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+</robot>
diff --git a/robots/franka_shadow_hand/urdf/shadow_right.urdf b/robots/franka_shadow_hand/urdf/shadow_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abc1588f6c7906afd6b498a395a51bf3f79f584d
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/shadow_right.urdf
@@ -0,0 +1,754 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ 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 Shadow Robot Company Ltd 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 Shadow Robot Company Ltd "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 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.
+-->
+<robot name="shadow_right">
+  <link name="world"/>
+  <joint name="world_joint" type="fixed">
+    <parent link="world"/>
+    <child link="forearm"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="forearm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.09" />
+      <mass value="3.0" />
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="shadow_forearm_geom">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="shadow_forearm_collision">
+        <mesh filename="meshes/forearm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ2" type="revolute">
+    <parent link="forearm" />
+    <child link="wrist" />
+
+    <origin rpy="0 0 0" xyz="0 -0.010 0.213" />
+    <axis xyz="0 1 0" />
+    <!-- <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.02359877559829882" upper="0.07453292519943295" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="wrist">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0.0 0.0" />
+
+      <mass value="0.1" />
+      <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_visual">
+        <mesh filename="meshes/wrist.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="wrist_collision_geom">
+        <mesh filename="meshes/wrist.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="palm">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.035" />
+      <mass value="0.3" />
+      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="palm_visual">
+        <mesh filename="meshes/palm.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.00 0 0.0" />
+      <geometry name="palm_collision_geom">
+        <mesh filename="meshes/palm.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="WRJ1" type="revolute">
+    <parent link="wrist" />
+    <child link="palm" />
+    <origin rpy="0 0 0" xyz="0 0 0.034" />
+    <axis xyz="1 0 0" />
+    <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
+    <limit effort="5" lower="-0.08539816339744828" upper="0.0108652381980153" velocity="1.0" />
+    <dynamics damping="100.5" />
+  </joint>
+
+  <link name="ffknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="ffknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.033 0 0.095" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ3" type="revolute">
+    <parent link="ffknuckle" />
+    <child link="ffproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ2" type="revolute">
+    <parent link="ffproximal" />
+    <child link="ffmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="ffdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="FFJ1" type="revolute">
+    <parent link="ffmiddle" />
+    <child link="ffdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="mfknuckle" />
+
+    <origin rpy="0 0 0" xyz="0.011 0 0.099" />
+    <axis xyz="0 -1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ3" type="revolute">
+    <parent link="mfknuckle" />
+    <child link="mfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ2" type="revolute">
+    <parent link="mfproximal" />
+    <child link="mfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="mfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="MFJ1" type="revolute">
+    <parent link="mfmiddle" />
+    <child link="mfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+
+      <mass value="0.008" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0005" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ4" type="revolute">
+    <parent link="palm" />
+    <child link="rfknuckle" />
+
+    <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ3" type="revolute">
+    <parent link="rfknuckle" />
+    <child link="rfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ2" type="revolute">
+    <parent link="rfproximal" />
+    <child link="rfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="rfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RFJ1" type="revolute">
+    <parent link="rfmiddle" />
+    <child link="rfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmetacarpal">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04" />
+      <mass value="0.075" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="lfmetacarpal_visual">
+        <mesh filename="meshes/lfmetacarpal.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="lfmetacarpal_collision_geom">
+        <mesh filename="meshes/lfmetacarpal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ5" type="revolute">
+    <parent link="palm" />
+    <child link="lfmetacarpal" />
+    <origin rpy="0 0 0" xyz="-0.033 0 0.02071" />
+    <axis xyz="0.573576436 0 0.819152044" />
+    <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfknuckle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.06579" />
+      <mass value="0.008" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="knuckle_visual">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="knuckle_collision_geom">
+        <mesh filename="meshes/knuckle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ4" type="revolute">
+    <parent link="lfmetacarpal" />
+    <child link="lfknuckle" />
+    <origin rpy="0 0 0" xyz="0 0 0.06579" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfproximal">
+    <inertial>
+      <mass value="0.014" />
+      <origin xyz="0 0 0.0225" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="proximal_visual">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="proximal_collision_geom">
+        <mesh filename="meshes/F3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ3" type="revolute">
+    <parent link="lfknuckle" />
+    <child link="lfproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfmiddle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0125" />
+      <mass value="0.012" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="middle_visual">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="middle_collision_geom">
+        <mesh filename="meshes/F2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ2" type="revolute">
+    <parent link="lfproximal" />
+    <child link="lfmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0.045" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="lfdistal">
+    <inertial>
+      <mass value="0.010" />
+      <origin xyz="0 0 0.013" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="Grey" />
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="distal_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LFJ1" type="revolute">
+    <parent link="lfmiddle" />
+    <child link="lfdistal" />
+    <origin rpy="0 0 0" xyz="0 0 0.025" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thbase">
+    <inertial>
+      <mass value="0.010" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thbase_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thbase_material">
+        <color rgba="0.5 0.5 0.5 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0" />
+      <geometry name="thbase_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ5" type="revolute">
+    <parent link="palm" />
+    <child link="thbase" />
+    <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" />
+    <axis xyz="0 0 -1.0" />
+    <limit effort="100" lower="-0.001" upper="0.001" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thproximal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.019" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thproximal_visual">
+        <mesh filename="meshes/TH3_z.obj"/>
+      </geometry>
+      <material name="shadow_thproximal_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry name="thproximal_collision_geom">
+        <mesh filename="meshes/TH3_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ4" type="revolute">
+    <parent link="thbase" />
+    <child link="thproximal" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="1.0 0 0" />
+    <limit effort="100" lower="0" upper="1.309" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thhub">
+    <inertial>
+      <mass value="0.002" />
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thhub_visual">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+      <material name="shadow_thhub_material">
+        <color rgba="0.7 0.7 0.7 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0" />
+      <geometry name="thhub_collision_geom">
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ3" type="revolute">
+    <parent link="thproximal" />
+    <child link="thhub" />
+    <origin rpy="0 0 0" xyz="0 0 0.038" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thmiddle">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.016" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry name="thmiddle_visual">
+        <mesh filename="meshes/TH2_z.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0 " xyz="0 0 0.0" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="meshes/TH2_z.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ2" type="revolute">
+    <parent link="thhub" />
+    <child link="thmiddle" />
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <axis xyz="0 1 0" />
+    <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+  <link name="thdistal">
+    <inertial>
+      <mass value="0.016" />
+      <origin rpy="0 0 0" xyz="0 0 0.01375" />
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
+      <geometry name="thdistal_visual">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+      <material name="shadow_thmiddle_material">
+        <color rgba="0.2 0.2 0.2 1.0" />
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
+      <geometry name="thmiddle_collision_geom">
+        <mesh filename="meshes/F1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="THJ1" type="revolute">
+    <parent link="thmiddle" />
+    <child link="thdistal" />
+    <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
+    <axis xyz="1 0 0" />
+    <limit effort="100" lower="-0.262" upper="1.571" velocity="1.0" />
+    <dynamics damping="50.5" />
+  </joint>
+</robot>