diff --git a/assets/bidex/objects/urdf/bottle_mobility.urdf b/assets/bidex/objects/urdf/bottle_mobility/bottle_mobility.urdf
similarity index 57%
rename from assets/bidex/objects/urdf/bottle_mobility.urdf
rename to assets/bidex/objects/urdf/bottle_mobility/bottle_mobility.urdf
index 2d94c71d35311f3ce342049272d322596d7c8b61..147e722f50329a12995e2ac15b546c5a48e893e2 100755
--- a/assets/bidex/objects/urdf/bottle_mobility.urdf
+++ b/assets/bidex/objects/urdf/bottle_mobility/bottle_mobility.urdf
@@ -5,13 +5,13 @@
 		<visual name="lid-7">
 			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="lid-7">
 			<origin xyz="-0.007005959241653967 0 -0.007542109902568375"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-7.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-7.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
 	</link>
@@ -22,76 +22,76 @@
 		<parent link="link_0_helper"/>
 	</joint>
 	<link name="link_1">
-		<visual name="body-5">
+		<visual name="body-4">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-4.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<visual name="body-5">
+		<visual name="body-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-3.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<visual name="body-5">
+		<visual name="body-8">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-8.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<visual name="body-5">
+		<visual name="body-6">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-6.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<visual name="body-5">
+		<visual name="body-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-2.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<visual name="neck-6">
+		<visual name="neck-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-5.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="body-4">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-4.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-4.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-3.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-3.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-8">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-8.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-8.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-6">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-6.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-6.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-2.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-2.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="neck-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bottle/original-5.obj" scale="0.15 0.15 0.15"/>
+				<mesh filename="meshes/original-5.obj" scale="0.15 0.15 0.15"/>
 			</geometry>
 		</collision>
 	</link>
@@ -100,7 +100,6 @@
 		<child link="link_1"/>
 		<parent link="base"/>
 	</joint>
-	<link name="link_0_helper"/>
 	<joint name="joint_2" type="prismatic">
 		<origin xyz="0.007005959241653967 0 0.007542109902568375"/>
 		<axis xyz="0 1 0"/>
@@ -108,4 +107,5 @@
 		<parent link="link_1"/>
 		<limit lower="0" upper="0.06400000000000006"/>
 	</joint>
+	<link name="link_0_helper"/>
 </robot>
diff --git a/assets/bidex/objects/urdf/meshes/bottle/images/texture_0.jpg b/assets/bidex/objects/urdf/bottle_mobility/meshes/images/texture_0.jpg
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/images/texture_0.jpg
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/images/texture_0.jpg
diff --git a/assets/bidex/objects/urdf/meshes/bottle/images/texture_1.jpg b/assets/bidex/objects/urdf/bottle_mobility/meshes/images/texture_1.jpg
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/images/texture_1.jpg
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/images/texture_1.jpg
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-2.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-2.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-2.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-2.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-3.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-3.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-3.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-3.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.obj
diff --git a/assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.usd b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.usd
new file mode 100644
index 0000000000000000000000000000000000000000..013a6bf3a016c679b015c589dd0e46b859d6d96d
--- /dev/null
+++ b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-3.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ddcb532aba789469d989179404ba8253465a6074fa4fc0e5828f5462137e5f
+size 1316460
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-4.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-4.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-4.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-4.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-4.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-4.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-4.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-4.obj
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-5.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-5.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-5.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-5.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-5.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-5.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-5.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-5.obj
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-6.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-6.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-6.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-6.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-7.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-7.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-7.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-7.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-7.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-7.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-7.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-7.obj
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-8.mtl b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-8.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-8.mtl
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-8.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bottle/original-8.obj b/assets/bidex/objects/urdf/bottle_mobility/meshes/original-8.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bottle/original-8.obj
rename to assets/bidex/objects/urdf/bottle_mobility/meshes/original-8.obj
diff --git a/assets/bidex/objects/urdf/bottle_mobility/meshes/textures/texture_0.jpg b/assets/bidex/objects/urdf/bottle_mobility/meshes/textures/texture_0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c1c9a3c2785a83ea8453069c803202f0c73a9eef
--- /dev/null
+++ b/assets/bidex/objects/urdf/bottle_mobility/meshes/textures/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8757e54b7df2998927c86efe4f7bea90e9daae66c22ce56566d6d445a840971e
+size 5289
diff --git a/assets/bidex/objects/urdf/bucket_mobility.urdf b/assets/bidex/objects/urdf/bucket_mobility/bucket_mobility.urdf
similarity index 72%
rename from assets/bidex/objects/urdf/bucket_mobility.urdf
rename to assets/bidex/objects/urdf/bucket_mobility/bucket_mobility.urdf
index beb3f0bed4ab212a1882e493c7049cb4bb0b663c..4f0d986f5a0bc64b077bfa90fbf84f1be563035e 100755
--- a/assets/bidex/objects/urdf/bucket_mobility.urdf
+++ b/assets/bidex/objects/urdf/bucket_mobility/bucket_mobility.urdf
@@ -5,13 +5,13 @@
 		<visual name="base_body-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bucket/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="base_body-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/bucket/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/urdf/meshes/bucket/images/texture_0.jpg b/assets/bidex/objects/urdf/bucket_mobility/meshes/images/texture_0.jpg
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bucket/images/texture_0.jpg
rename to assets/bidex/objects/urdf/bucket_mobility/meshes/images/texture_0.jpg
diff --git a/assets/bidex/objects/urdf/meshes/bucket/original-1.mtl b/assets/bidex/objects/urdf/bucket_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bucket/original-1.mtl
rename to assets/bidex/objects/urdf/bucket_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bucket/original-1.obj b/assets/bidex/objects/urdf/bucket_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bucket/original-1.obj
rename to assets/bidex/objects/urdf/bucket_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/bucket/original-2.mtl b/assets/bidex/objects/urdf/bucket_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bucket/original-2.mtl
rename to assets/bidex/objects/urdf/bucket_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/bucket/original-2.obj b/assets/bidex/objects/urdf/bucket_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/bucket/original-2.obj
rename to assets/bidex/objects/urdf/bucket_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/cup_mobility.urdf b/assets/bidex/objects/urdf/cup_mobility/cup_mobility.urdf
similarity index 58%
rename from assets/bidex/objects/urdf/cup_mobility.urdf
rename to assets/bidex/objects/urdf/cup_mobility/cup_mobility.urdf
index 2bf66b8faa5daeb9295de00f84ad0dc60c51edfa..34bb1e3e9374059ccfa8e561380d5bcff0d050ce 100755
--- a/assets/bidex/objects/urdf/cup_mobility.urdf
+++ b/assets/bidex/objects/urdf/cup_mobility/cup_mobility.urdf
@@ -2,40 +2,40 @@
 <robot name="cup">
 	<link name="base"/>
 	<link name="link_0">
-		<visual name="lid-3">
+		<visual name="lid-3-1">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="lid-3">
+		<visual name="lid-3-6">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="lid-3">
+		<visual name="lid-3-4">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="lid-3-1">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="lid-3-6">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-6.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="lid-3-4">
 			<origin xyz="0.0013007224518146773 0 0.006225716369432219"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-4.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
@@ -47,52 +47,52 @@
 		<limit lower="0" upper="0.1080000000000001"/>
 	</joint>
 	<link name="link_1">
-		<visual name="body-1">
+		<visual name="body-1-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="body-1">
+		<visual name="body-1-0">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="body-1">
+		<visual name="body-1-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="handle-2">
+		<visual name="handle-2-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="body-1-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-2.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-1-0">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/new-0.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/new-0.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="body-1-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/new-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/new-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="handle-2-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
@@ -103,16 +103,16 @@
 	</joint>
 
 	<link name="link_2">
-		<visual name="handle-3">
+		<visual name="handle-3-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="handle-3-5">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/cup/original-5.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-5.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/urdf/meshes/cup/new-0.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/new-0.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/new-0.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/new-0.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/new-0.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/new-0.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/new-0.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/new-0.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/new-1.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/new-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/new-1.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/new-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/new-1.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/new-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/new-1.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/new-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-1.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-1.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-1.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-1.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-2.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-2.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-2.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-2.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-4.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/original-4.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-4.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-4.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-4.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/original-4.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-4.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-4.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-5.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/original-5.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-5.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-5.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-5.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/original-5.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-5.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-5.obj
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-6.mtl b/assets/bidex/objects/urdf/cup_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-6.mtl
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/cup/original-6.obj b/assets/bidex/objects/urdf/cup_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/cup/original-6.obj
rename to assets/bidex/objects/urdf/cup_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/door_mobility.urdf b/assets/bidex/objects/urdf/door_mobility/door_mobility.urdf
similarity index 70%
rename from assets/bidex/objects/urdf/door_mobility.urdf
rename to assets/bidex/objects/urdf/door_mobility/door_mobility.urdf
index 6eaa3c6e59bd7e49b3543b1e8d633189de964c70..505e60a0374536dd14f8137108a151c10440c16f 100755
--- a/assets/bidex/objects/urdf/door_mobility.urdf
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility.urdf
@@ -2,28 +2,28 @@
 <robot name="door">
 	<link name="base"/>
 	<link name="link_0">
-		<visual name="outside_frame-1">
+		<visual name="outside_frame-1-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/door/original-1.obj"/>
+				<mesh filename="meshes/original-1.obj"/>
 			</geometry>
 		</visual>
-		<visual name="outside_frame-1">
+		<visual name="outside_frame-1-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/door/original-2.obj"/>
+				<mesh filename="meshes/original-2.obj"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="outside_frame-1-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/door/original-1.obj"/>
+				<mesh filename="meshes/original-1.obj"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="outside_frame-1-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/door/original-2.obj"/>
+				<mesh filename="meshes/original-2.obj"/>
 			</geometry>
 		</collision>
 	</link>
@@ -36,37 +36,37 @@
 		<visual name="glass-34">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-12.obj"/>
+				<mesh filename="meshes/original-12.obj"/>
 			</geometry>
 		</visual>
 		<visual name="fixed_part-31">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-10.obj" scale="2 2 2"/>
 			</geometry>
 		</visual>
 		<visual name="fixed_part-30">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-11.obj" scale="2 2 2"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="glass-34">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-12.obj"/>
+				<mesh filename="meshes/original-12.obj"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="fixed_part-31">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-10.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-10.obj" scale="2 2 2"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="fixed_part-30">
 			<origin xyz="0.4215270657166128 -0.48329200000000005 -0.008461858680020029"/>
 			<geometry>
-				<mesh filename="meshes/door/original-11.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-11.obj" scale="2 2 2"/>
 			</geometry>
 		</collision>
 	</link>
@@ -81,37 +81,37 @@
 		<visual name="glass-33">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-7.obj"/>
+				<mesh filename="meshes/original-7.obj"/>
 			</geometry>
 		</visual>
 		<visual name="fixed_part-32">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-6.obj" scale="2 2 2"/>
 			</geometry>
 		</visual>
 		<visual name="fixed_part-29">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-5.obj" scale="2 2 2"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="glass-33">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-7.obj"/>
+				<mesh filename="meshes/original-7.obj"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="fixed_part-32">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-6.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-6.obj" scale="2 2 2"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="fixed_part-29">
 			<origin xyz="-0.41540686074842226 -0.4832920000000003 -0.0055998888476049835"/>
 			<geometry>
-				<mesh filename="meshes/door/original-5.obj" scale="2 2 2"/>
+				<mesh filename="meshes/original-5.obj" scale="2 2 2"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_base.usd b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_base.usd
new file mode 100644
index 0000000000000000000000000000000000000000..62cc5f4608e660093cabf3949cf6c975b7dc447e
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4edc55fe2ba612d3014891781e29167df6390f7b162838d1f4c87eb230dddbe1
+size 342886
diff --git a/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_physics.usd b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_physics.usd
new file mode 100644
index 0000000000000000000000000000000000000000..0035532d76e062008edf4cefa2396981254aa607
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d009426f98ce1e96b3a3d2bd48d4f0a3191b209b194c81b66a94ad6b4d818b5
+size 3268
diff --git a/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_robot.usd b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_robot.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fef38429db992c1afe42bda18f9711eb0cc736ab
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08dd80687a6b1f5470ac46b0e6a900e02baceb188f0e3375da390086f9a37bd
+size 1366
diff --git a/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_sensor.usd b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_sensor.usd
new file mode 100644
index 0000000000000000000000000000000000000000..eb54c96db282d0a508bdaa494abb7f6fc70b79f6
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/door_mobility_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3349abd4a25de514376c6668196e8a37ebc54c25438dcbd24107262138c88f
+size 644
diff --git a/assets/bidex/objects/urdf/meshes/door/images/texture_0.jpg b/assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/materials/textures/texture_0.jpg
old mode 100755
new mode 100644
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/images/texture_0.jpg
rename to assets/bidex/objects/urdf/door_mobility/door_mobility/configuration/materials/textures/texture_0.jpg
diff --git a/assets/bidex/objects/urdf/door_mobility/door_mobility/door_mobility.usd b/assets/bidex/objects/urdf/door_mobility/door_mobility/door_mobility.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5e4cbf2dfae26ecbd701827842a1ede9b9f2b854
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/door_mobility/door_mobility.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a5631298c8f3d8dbac162402f239b534cf6330dfaab2b3c7cd0079ca3031ce
+size 1462
diff --git a/assets/bidex/objects/urdf/door_mobility/meshes/images/texture_0.jpg b/assets/bidex/objects/urdf/door_mobility/meshes/images/texture_0.jpg
new file mode 100755
index 0000000000000000000000000000000000000000..58cf146b68d436cea4fafaeac500ad28520fc85b
--- /dev/null
+++ b/assets/bidex/objects/urdf/door_mobility/meshes/images/texture_0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:056d90e0e575ac2771a374e0495f255ae95d34fd242b0b922b84a8c267e8c6d4
+size 3076
diff --git a/assets/bidex/objects/urdf/meshes/door/original-1.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-1.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-1.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-1.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-10.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-10.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-10.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-10.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-10.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-10.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-10.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-10.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-11.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-11.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-11.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-11.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-11.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-11.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-11.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-11.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-12.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-12.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-12.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-12.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-12.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-12.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-12.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-12.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-2.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-2.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-2.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-2.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-5.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-5.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-5.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-5.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-5.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-5.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-5.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-5.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-6.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-6.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-6.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-6.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/meshes/door/original-7.mtl b/assets/bidex/objects/urdf/door_mobility/meshes/original-7.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-7.mtl
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-7.mtl
diff --git a/assets/bidex/objects/urdf/meshes/door/original-7.obj b/assets/bidex/objects/urdf/door_mobility/meshes/original-7.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/door/original-7.obj
rename to assets/bidex/objects/urdf/door_mobility/meshes/original-7.obj
diff --git a/assets/bidex/objects/urdf/kettle_mobility.urdf b/assets/bidex/objects/urdf/kettle_mobility/kettle_mobility.urdf
similarity index 62%
rename from assets/bidex/objects/urdf/kettle_mobility.urdf
rename to assets/bidex/objects/urdf/kettle_mobility/kettle_mobility.urdf
index 89c2f25a62ec445bf63eb04f07e6fabd436d2137..68aa121d88f3a2e0511244fb3a86df69d919f3fa 100755
--- a/assets/bidex/objects/urdf/kettle_mobility.urdf
+++ b/assets/bidex/objects/urdf/kettle_mobility/kettle_mobility.urdf
@@ -5,13 +5,13 @@
 		<visual name="lid-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-4.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="lid-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-4.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</collision>
 	</link>
@@ -26,37 +26,37 @@
 		<visual name="handle-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-2.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</visual>
 		<visual name="base_body-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-3.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</visual>
-		<visual name="base_body-3">
+		<visual name="base_body-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-1.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="handle-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-2.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="base_body-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-3.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="base_body-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/kettle/original-1.obj" scale="0.2 0.2 0.2"/>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-1.mtl b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-1.mtl
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-1.obj b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-1.obj
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-2.mtl b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-2.mtl
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-2.obj b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-2.obj
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-3.mtl b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-3.mtl
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-3.obj b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-3.obj
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-3.obj
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-4.mtl b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-4.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-4.mtl
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-4.mtl
diff --git a/assets/bidex/objects/urdf/meshes/kettle/original-4.obj b/assets/bidex/objects/urdf/kettle_mobility/meshes/original-4.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/kettle/original-4.obj
rename to assets/bidex/objects/urdf/kettle_mobility/meshes/original-4.obj
diff --git a/assets/bidex/objects/urdf/pen_mobility.urdf b/assets/bidex/objects/urdf/pen_mobility.urdf
deleted file mode 100755
index 121a1ce3aaec0e513c6f14530fca189d03479728..0000000000000000000000000000000000000000
--- a/assets/bidex/objects/urdf/pen_mobility.urdf
+++ /dev/null
@@ -1,248 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="partnet_59a07a01d7c3fdb03c1d9add3a87bd2d">
-	<link name="base"/>
-	<link name="link_0">
-		<visual name="cap-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-14.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="cap-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-17.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="cap-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-11.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-14.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-17.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-11.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-	</link>
-	<joint name="joint_0" type="prismatic">
-		<origin xyz="0 0 0"/>
-		<axis xyz="0 -1 0"/>
-		<child link="link_0"/>
-		<parent link="link_1"/>
-		<limit lower="0" upper="0.492"/>
-	</joint>
-	<link name="link_1">
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-4.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-3.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-2.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-16.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-8.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-13.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-9.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-5.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-6.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-15.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-18.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-12.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-7.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-1.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-10.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-19.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-4.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-3.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-2.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-16.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-8.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-13.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-9.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-5.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-6.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-15.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-18.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-12.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-7.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-1.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-10.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pen/original-19.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-	</link>
-	<joint name="joint_1" type="fixed">
-		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
-		<child link="link_1"/>
-		<parent link="base"/>
-	</joint>
-</robot>
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-1.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-1.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-1.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-1.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-10.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-10.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-10.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-10.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-10.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-10.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-10.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-10.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-11.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-11.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-11.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-11.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-11.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-11.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-11.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-11.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-12.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-12.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-12.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-12.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-12.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-12.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-12.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-12.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-13.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-13.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-13.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-13.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-13.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-13.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-13.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-13.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-14.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-14.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-14.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-14.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-14.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-14.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-14.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-14.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-15.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-15.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-15.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-15.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-15.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-15.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-15.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-15.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-16.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-16.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-16.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-16.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-16.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-16.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-16.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-16.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-17.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-17.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-17.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-17.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-17.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-17.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-17.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-17.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-18.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-18.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-18.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-18.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-18.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-18.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-18.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-18.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-19.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-19.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-19.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-19.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-19.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-19.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-19.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-19.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-2.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-2.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-2.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-2.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-3.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-3.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-3.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-3.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-3.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-4.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-4.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-4.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-4.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-4.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-4.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-4.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-4.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-5.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-5.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-5.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-5.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-5.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-5.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-5.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-5.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-6.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-6.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-6.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-6.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-7.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-7.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-7.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-7.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-7.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-7.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-7.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-7.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-8.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-8.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-8.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-8.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-8.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-8.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-8.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-8.obj
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-9.mtl b/assets/bidex/objects/urdf/pen_mobility/meshes/original-9.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-9.mtl
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-9.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pen/original-9.obj b/assets/bidex/objects/urdf/pen_mobility/meshes/original-9.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pen/original-9.obj
rename to assets/bidex/objects/urdf/pen_mobility/meshes/original-9.obj
diff --git a/assets/bidex/objects/urdf/pen_mobility/pen_mobility.urdf b/assets/bidex/objects/urdf/pen_mobility/pen_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..e6393f3fe9bfe9b34aa042d1678366e14615eb5b
--- /dev/null
+++ b/assets/bidex/objects/urdf/pen_mobility/pen_mobility.urdf
@@ -0,0 +1,248 @@
+<?xml version="1.0" ?>
+<robot name="partnet_59a07a01d7c3fdb03c1d9add3a87bd2d">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="cap-1-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="cap-1-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="cap-1-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<collision name="cap-1-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="cap-1-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="cap-1-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 -1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.492"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-9.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-18.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-12.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<collision name="base_body-2-4">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-4.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-3">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-3.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-2">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-2.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-9.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-18">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-18.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-12">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-12.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/bidex/objects/urdf/pot_mobility.urdf b/assets/bidex/objects/urdf/pot_mobility.urdf
deleted file mode 100755
index a50456f7f6d0a866b16c06de47ac9d2d2974da53..0000000000000000000000000000000000000000
--- a/assets/bidex/objects/urdf/pot_mobility.urdf
+++ /dev/null
@@ -1,293 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="pot">
-	<link name="base"/>
-	<link name="link_0">
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-17.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-10.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-11.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-8.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-1.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-13.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-15.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-14.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="lid-1">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-16.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-17.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-10.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-11.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-8.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-1.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-13.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-15.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-14.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-16.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<mass value="1"/>
-			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
-		</inertial>
-	</link>
-	<joint name="joint_0" type="prismatic">
-		<origin xyz="0 0 0"/>
-		<axis xyz="0 1 0"/>
-		<child link="link_0"/>
-		<parent link="link_1"/>
-		<limit lower="0" upper="0.06"/>
-	</joint>
-	<link name="link_1">
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-29.obj" scale="0.2 0.2 0.2"/>
-
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-21.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-30.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-22.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-26.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-5.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-27.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-6.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-31.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-23.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-25.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-7.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<visual name="base_body-2">
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-19.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</visual>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-29.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-21.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-30.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-22.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-26.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-5.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-27.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-6.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-31.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-23.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-25.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-7.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<collision>
-			<origin xyz="0 0 0"/>
-			<geometry>
-				<mesh filename="meshes/pot/original-19.obj" scale="0.2 0.2 0.2"/>
-			</geometry>
-		</collision>
-		<inertial>
-			<mass value="3"/>
-			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
-		</inertial>
-	</link>
-	<joint name="joint_1" type="fixed">
-		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
-		<child link="link_1"/>
-		<parent link="base"/>
-	</joint>
-</robot>
diff --git a/assets/bidex/objects/urdf/meshes/pot/images/texture_0.png b/assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_0.png
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/images/texture_0.png
rename to assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_0.png
diff --git a/assets/bidex/objects/urdf/meshes/pot/images/texture_1.jpg b/assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_1.jpg
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/images/texture_1.jpg
rename to assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_1.jpg
diff --git a/assets/bidex/objects/urdf/meshes/pot/images/texture_2.jpg b/assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_2.jpg
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/images/texture_2.jpg
rename to assets/bidex/objects/urdf/pot_mobility/meshes/images/texture_2.jpg
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-1.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-1.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-1.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-1.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-10.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-10.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-10.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-10.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-10.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-10.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-10.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-10.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-11.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-11.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-11.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-11.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-11.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-11.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-11.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-11.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-13.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-13.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-13.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-13.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-13.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-13.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-13.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-13.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-14.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-14.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-14.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-14.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-14.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-14.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-14.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-14.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-15.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-15.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-15.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-15.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-15.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-15.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-15.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-15.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-16.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-16.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-16.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-16.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-16.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-16.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-16.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-16.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-17.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-17.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-17.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-17.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-17.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-17.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-17.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-17.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-19.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-19.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-19.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-19.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-19.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-19.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-19.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-19.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-21.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-21.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-21.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-21.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-21.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-21.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-21.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-21.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-22.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-22.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-22.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-22.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-22.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-22.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-22.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-22.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-23.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-23.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-23.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-23.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-23.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-23.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-23.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-23.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-25.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-25.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-25.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-25.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-25.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-25.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-25.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-25.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-26.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-26.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-26.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-26.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-26.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-26.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-26.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-26.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-27.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-27.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-27.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-27.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-27.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-27.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-27.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-27.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-29.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-29.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-29.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-29.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-29.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-29.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-29.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-29.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-30.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-30.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-30.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-30.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-30.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-30.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-30.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-30.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-31.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-31.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-31.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-31.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-31.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-31.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-31.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-31.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-5.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-5.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-5.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-5.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-5.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-5.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-5.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-5.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-6.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-6.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-6.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-6.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-7.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-7.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-7.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-7.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-7.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-7.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-7.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-7.obj
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-8.mtl b/assets/bidex/objects/urdf/pot_mobility/meshes/original-8.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-8.mtl
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-8.mtl
diff --git a/assets/bidex/objects/urdf/meshes/pot/original-8.obj b/assets/bidex/objects/urdf/pot_mobility/meshes/original-8.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/pot/original-8.obj
rename to assets/bidex/objects/urdf/pot_mobility/meshes/original-8.obj
diff --git a/assets/bidex/objects/urdf/pot_mobility/pot_mobility.urdf b/assets/bidex/objects/urdf/pot_mobility/pot_mobility.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..3a1c5ccc9bf6e7ad9e0450c54ad41b181bd36118
--- /dev/null
+++ b/assets/bidex/objects/urdf/pot_mobility/pot_mobility.urdf
@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot name="pot">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-1-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="lid-1-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<collision name="lid-1-17">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-17.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-10.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-11">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-11.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-8">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-8.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-1">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-1.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-13.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-15">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-15.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-14">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-14.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="lid-1-16">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-16.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="1"/>
+			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
+		</inertial>
+	</link>
+	<joint name="joint_0" type="prismatic">
+		<origin xyz="0 0 0"/>
+		<axis xyz="0 1 0"/>
+		<child link="link_0"/>
+		<parent link="link_1"/>
+		<limit lower="0" upper="0.06"/>
+	</joint>
+	<link name="link_1">
+		<visual name="base_body-2-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-29.obj" scale="0.2 0.2 0.2"/>
+
+			</geometry>
+		</visual>
+		<visual name="base_body-2-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-21.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-30.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-22.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-26.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-27.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-31.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-23.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-25.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<visual name="base_body-2-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</visual>
+		<collision name="base_body-2-29">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-29.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-21">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-21.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-30">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-30.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-22">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-22.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-26">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-26.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-5">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-5.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-27">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-27.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-6">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-6.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-31">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-31.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-23">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-23.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-25">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-25.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-7">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-7.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<collision name="base_body-2-19">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="meshes/original-19.obj" scale="0.2 0.2 0.2"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="3"/>
+			<inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
+		</inertial>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+</robot>
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-0.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-0.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-0.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-0.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-0.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-0.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-0.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-0.obj
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-1.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-1.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-1.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-1.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-2.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-2.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-2.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-2.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-3.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-3.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/new-3.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/new-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/new-3.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/new-3.obj
diff --git a/assets/bidex/objects/urdf/meshes/scissor/original-3.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/original-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/original-3.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/original-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/original-3.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/original-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/original-3.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/original-3.obj
diff --git a/assets/bidex/objects/urdf/meshes/scissor/original-6.mtl b/assets/bidex/objects/urdf/scissor_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/original-6.mtl
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/scissor/original-6.obj b/assets/bidex/objects/urdf/scissor_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/scissor/original-6.obj
rename to assets/bidex/objects/urdf/scissor_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/scissor_mobility.urdf b/assets/bidex/objects/urdf/scissor_mobility/scissor_mobility.urdf
similarity index 60%
rename from assets/bidex/objects/urdf/scissor_mobility.urdf
rename to assets/bidex/objects/urdf/scissor_mobility/scissor_mobility.urdf
index 0f7297102da853d8d237d44affd1b5cad5b29502..5cd5b6e8380587b267cfc51438fa58cd95475517 100755
--- a/assets/bidex/objects/urdf/scissor_mobility.urdf
+++ b/assets/bidex/objects/urdf/scissor_mobility/scissor_mobility.urdf
@@ -5,25 +5,25 @@
 		<visual name="blade-6">
 			<origin xyz="0.0698251662 0 -0.0034203225936"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-1.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
 		<visual name="handle-7">
 			<origin xyz="0.0698251662 0 -0.0034203225936"/>
 			<geometry>
-				<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/original-6.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="blade-6">
 			<origin xyz="0.0698251662 0 -0.0034203225936"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-1.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-1.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="handle-7">
 			<origin xyz="0.0698251662 0 -0.0034203225936"/>
 			<geometry>
-				<mesh filename="meshes/scissor/original-6.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/original-6.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
 	</link>
@@ -36,52 +36,52 @@
 		<limit lower="-0.5969026041820605" upper="0.4"/>
 	</joint>
 	<link name="link_1">
-		<visual name="screw-3">
+		<visual name="screw-3-0">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-0.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
-		<visual name="screw-3">
+		<visual name="screw-3-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-2.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
-		<visual name="blade-4">
+		<visual name="blade-4-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-3.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
-		<visual name="handle-5">
+		<visual name="handle-5-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/original-3.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="screw-3-0">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-0.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-0.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="screw-3-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-2.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-2.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="blade-4-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/new-3.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/new-3.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="handle-5-3">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/scissor/original-3.obj" scale="0.3 0.3 0.3"/>
+				<mesh filename="meshes/original-3.obj" scale="0.3 0.3 0.3"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-1.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-1.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-1.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-1.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-1.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-1.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-1.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-1.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-2.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-2.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-2.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-2.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-2.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-2.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-2.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-2.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-3.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-3.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-3.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-3.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-3.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-3.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-3.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-3.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-4.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-4.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-4.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-4.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-4.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-4.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-4.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-4.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-6.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-6.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-6.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-6.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-6.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-6.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-6.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-6.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-7.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-7.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-7.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-7.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-7.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-7.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-7.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-7.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-8.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-8.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-8.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-8.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-8.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-8.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-8.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-8.obj
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-9.mtl b/assets/bidex/objects/urdf/switch_mobility/meshes/original-9.mtl
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-9.mtl
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-9.mtl
diff --git a/assets/bidex/objects/urdf/meshes/switch/original-9.obj b/assets/bidex/objects/urdf/switch_mobility/meshes/original-9.obj
similarity index 100%
rename from assets/bidex/objects/urdf/meshes/switch/original-9.obj
rename to assets/bidex/objects/urdf/switch_mobility/meshes/original-9.obj
diff --git a/assets/bidex/objects/urdf/switch_mobility.urdf b/assets/bidex/objects/urdf/switch_mobility/switch_mobility.urdf
similarity index 57%
rename from assets/bidex/objects/urdf/switch_mobility.urdf
rename to assets/bidex/objects/urdf/switch_mobility/switch_mobility.urdf
index f0e95513a4eb0fa9d4b9d0464ab5831c063976a2..272e1c3e397e2548348fdeb18a68ff48dd2d4c2d 100755
--- a/assets/bidex/objects/urdf/switch_mobility.urdf
+++ b/assets/bidex/objects/urdf/switch_mobility/switch_mobility.urdf
@@ -2,52 +2,52 @@
 <robot name="switch">
 	<link name="base"/>
 	<link name="link_0">
-		<visual name="switch-1">
+		<visual name="switch-1-8">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-8.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-8.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="switch-1">
+		<visual name="switch-1-9">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-9.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-9.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="switch-1">
+		<visual name="switch-1-4">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-4.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="switch-1">
+		<visual name="switch-1-3">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-3.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-3.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="switch-1-8">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-8.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-8.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="switch-1-9">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-9.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-9.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="switch-1-4">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-4.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-4.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="switch-1-3">
 			<origin xyz="-0.05022849999999996 0.010858965876808951 -0.041670398045619433"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-3.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-3.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
@@ -59,52 +59,52 @@
 		<limit lower="0.0" upper="0.5585053606381855"/>
 	</joint>
 	<link name="link_1">
-		<visual name="base_body-2">
+		<visual name="base_body-2-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-2.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="base_body-2">
+		<visual name="base_body-2-6">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-6.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="base_body-2">
+		<visual name="base_body-2-7">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-7.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-7.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<visual name="base_body-2">
+		<visual name="base_body-2-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</visual>
-		<collision>
+		<collision name="base_body-2-2">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-2.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-2.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="base_body-2-6">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-6.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-6.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="base_body-2-7">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-7.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-7.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
-		<collision>
+		<collision name="base_body-2-1">
 			<origin xyz="0 0 0"/>
 			<geometry>
-				<mesh filename="meshes/switch/original-1.obj" scale="0.1 0.1 0.1"/>
+				<mesh filename="meshes/original-1.obj" scale="0.1 0.1 0.1"/>
 			</geometry>
 		</collision>
 	</link>
diff --git a/assets/bidex/objects/usd/ball/ball.usd b/assets/bidex/objects/usd/ball.usd
similarity index 100%
rename from assets/bidex/objects/usd/ball/ball.usd
rename to assets/bidex/objects/usd/ball.usd
diff --git a/assets/bidex/objects/usd/ball/configuration/ball_base.usd b/assets/bidex/objects/usd/ball/configuration/ball_base.usd
deleted file mode 100644
index 8eecaa1540c19ad38bda393d483f867c8d59a50d..0000000000000000000000000000000000000000
--- a/assets/bidex/objects/usd/ball/configuration/ball_base.usd
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5913152db2f4c0e1ff1d15ccd3a41044eb007485aaf2eed6cdc111a6ab8f39cd
-size 1563
diff --git a/assets/bidex/objects/usd/ball/configuration/ball_physics.usd b/assets/bidex/objects/usd/ball/configuration/ball_physics.usd
deleted file mode 100644
index 35fde8792910ccbe876ab6bb33c2daf940d4385f..0000000000000000000000000000000000000000
--- a/assets/bidex/objects/usd/ball/configuration/ball_physics.usd
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 1850
diff --git a/assets/bidex/objects/usd/ball/configuration/ball_sensor.usd b/assets/bidex/objects/usd/ball/configuration/ball_sensor.usd
deleted file mode 100644
index 8f4d69e11d143d8acad7c2b621076c2723d0c07e..0000000000000000000000000000000000000000
--- a/assets/bidex/objects/usd/ball/configuration/ball_sensor.usd
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9a3a336a45bf20ec14539d6324156c97e9827bbd08b19e81b707c674c7e01305
-size 644
diff --git a/assets/bidex/objects/usd/bottle_mobility/.collect.mapping.json b/assets/bidex/objects/usd/bottle_mobility/.collect.mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..a613475587679c125ab8a0cb4a335f81bcc4818f
--- /dev/null
+++ b/assets/bidex/objects/usd/bottle_mobility/.collect.mapping.json
@@ -0,0 +1,17 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/home/fs/yizhuo/RoboVerse/roboverse_data/assets/bidex/objects/urdf/bottle_mobility/bottle_mobility/configuration/materials/textures/texture_0.jpg",
+            "source_hash": "e4e2d78cd5973381741b0b3e9620e3f6b5ddd140",
+            "target_url": "./configuration/materials/textures/texture_0.jpg",
+            "target_hash": "2a9c57e504fdedf22d79b23b7c4d60a6775bfbe6"
+        },
+        {
+            "source_url": "/home/fs/yizhuo/RoboVerse/roboverse_data/assets/bidex/objects/urdf/bottle_mobility/bottle_mobility/configuration/materials/textures/texture_1.jpg",
+            "source_hash": "126b4d1a99750913157297cde4478234199cb774",
+            "target_url": "./configuration/materials/textures/texture_1.jpg",
+            "target_hash": "db06f5624bc80adf3a944879ab5db0f42b143128"
+        }
+    ]
+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..0df6555fd9176bf4061e426769cc9403bef482b6
--- /dev/null
+++ b/assets/bidex/objects/usd/bottle_mobility/bottle_mobility.usd
@@ -0,0 +1,3 @@
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diff --git a/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_base.usd b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_base.usd
new file mode 100644
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--- /dev/null
+++ b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_base.usd
@@ -0,0 +1,3 @@
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diff --git a/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_physics.usd b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_physics.usd
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_robot.usd b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_robot.usd
new file mode 100644
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--- /dev/null
+++ b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_robot.usd
@@ -0,0 +1,3 @@
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diff --git a/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_sensor.usd b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_sensor.usd
new file mode 100644
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--- /dev/null
+++ b/assets/bidex/objects/usd/bottle_mobility/configuration/bottle_mobility_sensor.usd
@@ -0,0 +1,3 @@
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new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/assets/bidex/objects/usd/bucket_mobility/.collect.mapping.json b/assets/bidex/objects/usd/bucket_mobility/.collect.mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c2e6d344042f2dff007238b1be734cfe8b2aa4
--- /dev/null
+++ b/assets/bidex/objects/usd/bucket_mobility/.collect.mapping.json
@@ -0,0 +1,11 @@
+{
+    "version": "1.0",
+    "file_records": [
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+            "source_hash": "d72ea003351d748e456aaddd0a4c72e764097d99",
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+            "target_hash": "ffbd5961f7d9b12cd228e44e79e1c0e550580224"
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+}
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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new file mode 100644
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+    "file_records": []
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diff --git a/assets/bidex/objects/usd/scissor_mobility/configuration/scissor_mobility_base.usd b/assets/bidex/objects/usd/scissor_mobility/configuration/scissor_mobility_base.usd
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diff --git a/robots/franka/usd/franka_v2.usd b/robots/franka/usd/franka_v2.usd
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diff --git a/robots/franka_allegro_hand/urdf/allegro_left.urdf b/robots/franka_allegro_hand/urdf/allegro_left.urdf
new file mode 100644
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--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/allegro_left.urdf
@@ -0,0 +1,630 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/base_link_left.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
+      <!-- RIGHT -->
+      <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
+    </inertial>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <!--
+<xacro:thumb_right
+	finger_num=			"3"
+	offset_origin_x=	"-0.0182"
+	offset_origin_y=	"0.019333"
+	offset_origin_z=	"-0.045987"
+
+
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+-->
+  <!--
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${100*DEG2RAD}"
+	finger_angle_y=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="meshes/link_12_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="meshes/link_12_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>
diff --git a/robots/franka_allegro_hand/urdf/allegro_right.urdf b/robots/franka_allegro_hand/urdf/allegro_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6c3386e2170846417a5befa5baf935c530bb295
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/allegro_right.urdf
@@ -0,0 +1,624 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_description_right.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
+-->
+  <!-- ======================== BASE PARAMS ========================= -->
+  <!-- ======================== FINGER PARAMS ======================== -->
+  <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+  <!--0.0435,   0.044981-->
+  <!--0.002298-->
+  <!--0.002298-->
+  <!-- ========================= THUMB PARAMS ========================= -->
+  <!-- ========================= LIMITS ========================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- BASE -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/base_link.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="0.00208916" ixy="-3.63457e-06" ixz="0.000223277" iyy="0.00182848" iyz="-1.75634e-05" izz="0.000482459"/>
+    </inertial>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <mesh filename="meshes/link_12_right.STL"/>
+        <!-- LEFT -->
+        <!-- <mesh filename="meshes/link_12.0_left.STL" /> -->
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+      <!-- LEFT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="-1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <origin xyz="-0.027 0.005 0.0399"/>
+    <!-- LEFT -->
+    <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+  <!--
+<xacro:thumb_left
+	finger_num=			"3"
+	offset_origin_x=	"-0.0182"
+	offset_origin_y=	"-0.019333"
+	offset_origin_z=	"-0.045987"
+
+
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${95*DEG2RAD}"
+	finger_angle_y=		"${90*DEG2RAD}"
+/>
+-->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- ============================================================================= -->
+  <!-- THUMB MACRO -->
+  <!-- END THUMB MACRO -->
+  <!-- THREE FINGER MACRO -->
+  <!-- [[END]] THREE FINGER MACRO -->
+</robot>
diff --git a/robots/franka_allegro_hand/urdf/franka_allegro_left.urdf b/robots/franka_allegro_hand/urdf/franka_allegro_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..735d4c2dc902612219948c962eca2129c08378e2
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_allegro_left.urdf
@@ -0,0 +1,770 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="base_link"/>
+    <origin rpy="0 0 2.35619444" xyz="0 0 0.203"/>
+  </joint>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/base_link_left.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
+      <!-- RIGHT -->
+      <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
+    </inertial>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_11_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11_tip" type="fixed">
+    <parent link="link_11"/>
+    <child link="link_11_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <!-- THUMB -->
+  <!--
+<xacro:thumb_right
+	finger_num=			"3"
+	offset_origin_x=	"-0.0182"
+	offset_origin_y=	"0.019333"
+	offset_origin_z=	"-0.045987"
+
+
+	finger_angle_r=		"0"
+	finger_angle_p=		"-${95*DEG2RAD}"
+	finger_angle_y=		"-${90*DEG2RAD}"
+/>
+-->
+  <!--
+	finger_angle_r=		"${90*DEG2RAD}"
+	finger_angle_p=		"-${100*DEG2RAD}"
+	finger_angle_y=		"${0*DEG2RAD}"
+	-->
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <!-- RIGHT -->
+        <!-- <mesh filename="meshes/link_12_right.STL" /> -->
+        <!-- LEFT -->
+        <mesh filename="meshes/link_12_left.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <!-- RIGHT -->
+      <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+      <!-- LEFT -->
+      <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="+1 0 0"/>
+    <limit effort="10.0" lower="0.363" upper="1.496" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_13.STL"/>
+      </geometry>
+      <material name="black">
+        <color rgba=".2 .2 .2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="10.0" lower="-0.205" upper="1.163" velocity="3.0"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <!-- RIGHT -->
+    <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+    <!-- LEFT -->
+    <origin xyz="-0.027 -0.005 0.0399"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_14.STL"/>
+      </geometry>
+      <material name="black">
+		  	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+    <inertial>
+      <mass value="0.038"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.289" upper="1.644" velocity="3.0"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin xyz="0 0 0.0177"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15.STL"/>
+      </geometry>
+      <material name="black">
+    	</material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0423"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+    </collision>
+    <inertial>
+      <mass value="0.0388"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
+    </inertial>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.262" upper="1.819" velocity="3.0"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_15_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_15_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_15_tip" type="fixed">
+    <parent link="link_15"/>
+    <child link="link_15_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+    <!--0.0267000000000005-->
+  </joint>
+</robot>
diff --git a/robots/franka_allegro_hand/urdf/franka_allegro_right.urdf b/robots/franka_allegro_hand/urdf/franka_allegro_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..91315dac12d75abcca43a2301b7bcb4ee9c1752a
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_allegro_right.urdf
@@ -0,0 +1,751 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="franka_meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="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="base_link"/>
+    <origin rpy="0 0 2.35619444" xyz="0 0 0.203"/>
+  </joint>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/base_link.STL"/>
+      </geometry>
+      <!-- LEFT -->
+      <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
+      <!-- RIGHT -->
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.4154"/>
+      <inertia ixx="0.00208916" ixy="-3.63457e-06" ixz="0.000223277" iyy="0.00182848" iyz="-1.75634e-05" izz="0.000482459"/>
+    </inertial>
+  </link>
+  <!-- ============================================================================= -->
+  <!-- FINGERS -->
+  <!-- RIGHT HAND due to which finger is number 0 -->
+  <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_0"/>
+    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_3_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3_tip" type="fixed">
+    <parent link="link_3"/>
+    <child link="link_3_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <inertial>
+      <mass value="0.065"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="10.0" lower="-0.296" upper="1.71" velocity="3.0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0164"/>
+    <dynamics damping="1.5e-2" friction="5"/>
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_2.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0384"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+    </collision>
+    <inertial>
+      <mass value="0.0355"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.274" upper="1.809" velocity="3.0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0267"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+    </collision>
+    <inertial>
+      <mass value="0.0096"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="10.0" lower="-0.327" upper="1.718" velocity="3.0"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0 0.0384"/>
+    <dynamics damping="1.5e-2" friction="12"/>
+  </joint>
+  <link name="link_7_tip">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_3_tip.STL"/>
+      </geometry>
+      <material name="white">
+        <color rgba=".9 .9 .9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.012"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.0168"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7_tip" type="fixed">
+    <parent link="link_7"/>
+    <child link="link_7_tip"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+  </joint>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0119"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" lower="-0.57" upper="0.57" velocity="3.0"/>
+    <parent link="base_link"/>
+    <child link="link_8"/>
+    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+    <dynamics damping="1.5e-2" friction="10"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/link_1.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
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index 0000000000000000000000000000000000000000..67e0b6ea26a003e50d17ba472f8a46f621d3cb79
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/collision/stltoobj.mlx b/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..0b6fbb6b3f005de3ad10029906ede760f2ad6606
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/visual/daetoobj.bat b/robots/franka_allegro_hand/urdf/franka_meshes/visual/daetoobj.bat
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c7172ff4e24de694e8b4a1ee3d5d1ad3f39a6
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/visual/daetoobj.mlx b/robots/franka_allegro_hand/urdf/franka_meshes/visual/daetoobj.mlx
new file mode 100644
index 0000000000000000000000000000000000000000..a72957a82cc8db27f30115056e85ff4d797d5b99
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/visual/finger.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0f3cd3760a313f1eca2b34e35b92afc75690e630
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0702e12ce796ca1949ca3bacb699dd526a29ab0c35e306019e58c5a4ff5879f5
+size 51124
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c63fce760e7eb0f931ff52eca03adb804d0aa744
--- /dev/null
+++ b/robots/franka_allegro_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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+illum 2
+
+newmtl Part__Feature_007
+Ns -1.960784
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+Ks 0.250000 0.250000 0.250000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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+illum 2
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/finger.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71b83987ab63fe862481ef95d65eb26461ae4cea
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/visual/hand.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.dae
new file mode 100644
index 0000000000000000000000000000000000000000..404e91bf0b2f0ccd76f0097745c1177da36d00e1
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c3cd167ce9cc87fdef04dbe7e4eb1ae76eb6a3b32208d5f04cc6172f86a6950
+size 548950
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53ddbc0c254c77f94cd383daf5ec65cbc03d81b6
--- /dev/null
+++ b/robots/franka_allegro_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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+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
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+illum 2
+
+newmtl Part__Feature002_005_005
+Ns -1.960784
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+Kd 0.901961 0.921569 0.929412
+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
+Ke 0.000000 0.000000 0.000000
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+
+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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+
+newmtl Part__Feature_009_005
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.250980 0.250980 0.250980
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/hand.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d700f4cb2b19826472e68848aa685bdb91f550fd
--- /dev/null
+++ b/robots/franka_allegro_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_allegro_hand/urdf/franka_meshes/visual/link0.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.dae
new file mode 100644
index 0000000000000000000000000000000000000000..828371b76891acce7c892b84af11dfcff4ccc3e5
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:334b61fa1839d58dd1e23ab0cce7acfa4b377229d72ec6a93734eb6639aa039c
+size 1590897
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c6a731a393e6eadaeb14c872e80649dc7b7a2e36
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.mtl
@@ -0,0 +1,122 @@
+# Blender MTL File: 'None'
+# Material Count: 12
+
+newmtl Face636_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 0.901961 0.921569 0.929412
+Ks 0.125000 0.125000 0.125000
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+illum 2
+
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+illum 2
+
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+Ns -1.960784
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+
+newmtl Part__Feature022_001
+Ns -1.960784
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+Ks 0.125000 0.125000 0.125000
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+illum 2
+
+newmtl Shell001_001
+Ns -1.960784
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+Ks 0.125000 0.125000 0.125000
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+
+newmtl Shell002_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+
+newmtl Shell003_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+newmtl Shell009_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+newmtl Shell010_001
+Ns -1.960784
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+newmtl Shell_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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+Ke 0.000000 0.000000 0.000000
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+illum 2
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..266488615dab71a096221eaa1aefb73e22708454
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abc04a4e134587f7d02359c4e5b2fe45063fbd5232abc453ffdccf335d4c071
+size 1442561
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..bb48ca2d3deaf14db3a84dff05d2060ddf2b4c81
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:014715f34b567a6db2daf5ba11a868e53241f25e3a7dfe3fba333426e25dc361
+size 978416
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef1b5c86d631ad445756e149f0cf2835c50619ab
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Part__Feature_001
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.062500 0.062500 0.062500
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f42c8a8470659a889f49701f36d19d4e58a45b7b
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link1.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43cfacefee7beaeb83c07747cda20643fc32d73702acd19e688dda4a3693cdcd
+size 777412
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0363e01b0ca22dc89e45b59085cbfd0637b837da
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4973770a03373c205d71f3ed0d5418d43c32417ba6192490b263fc38fbd79a5
+size 998487
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e744af431bc45407685906204ba678ca3a26213b
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Part__Feature024
+Ns -1.960784
+Ka 1.000000 1.000000 1.000000
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.obj
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index 0000000000000000000000000000000000000000..19a9a5b3105740e3f7bdc6a081488bb59388eff6
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link2.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f02da31df4f8f4d56a2ff5a745a264138f26e2cd43cbf6696f6329a6d3489e50
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a3bbb3cd65b4954e50198d90622fb621f40639be
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73bfc5b6154b970bd1aec0adfe4e2a5e755e158a4f720acbf6a39e5e2e2e333d
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.mtl
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index 0000000000000000000000000000000000000000..83b6a89f82a62be3d7bb4e5a6cd65288319a1ad0
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.mtl
@@ -0,0 +1,42 @@
+# Blender MTL File: 'None'
+# Material Count: 4
+
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.obj b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.obj
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index 0000000000000000000000000000000000000000..0bb6c1105eafa2bae9c8224edd3e2c21fe4f4ee2
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link3.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..0d6131eeb92e08198a81b1802c945500d010d511
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.dae
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.mtl b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.mtl
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index 0000000000000000000000000000000000000000..1dc4477671c2d76407267f9c101964d10d4c9f4d
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link4.mtl
@@ -0,0 +1,42 @@
+# Blender MTL File: 'None'
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+
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+++ b/robots/franka_allegro_hand/urdf/meshes/link_3_tip.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3fa04fea0dfa1257c8a1b02d2b7d982b0d985c1ddda1edf148827944835f39
+size 71984
diff --git a/robots/franka_allegro_hand/urdf/meshes/link_4.STL b/robots/franka_allegro_hand/urdf/meshes/link_4.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b835ca91b5cda846d6e04e108e2e15b72162b3c7
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/meshes/link_4.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f80ac4d443169c56507afaa0b3c72ec3679312bc80cbaebd03e73e96dd18c408
+size 22884
diff --git a/robots/franka_allegro_hand/usd/franka_allegro_left.usd b/robots/franka_allegro_hand/usd/franka_allegro_left.usd
new file mode 100644
index 0000000000000000000000000000000000000000..988fe34fab2fe76cffb219ea18fad87fbf866b79
--- /dev/null
+++ b/robots/franka_allegro_hand/usd/franka_allegro_left.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da8e36d24a0d6fa5c305d0e6d3294c2d73689b1cf998eb2982f3df316dc831e
+size 10542446
diff --git a/robots/franka_allegro_hand/usd/franka_allegro_right.usd b/robots/franka_allegro_hand/usd/franka_allegro_right.usd
new file mode 100644
index 0000000000000000000000000000000000000000..f774d27135e165cbb6a0dce3391a9fc65563197d
--- /dev/null
+++ b/robots/franka_allegro_hand/usd/franka_allegro_right.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86bba55faa410bc63704497badc7331d2e92a16e30b47c9886e59552f4a673fb
+size 10124507
diff --git a/robots/franka_shadow_hand/mjcf/franka_shadow_left.xml b/robots/franka_shadow_hand/mjcf/franka_shadow_left.xml
index b577aa028d5e0fe38483f9d4cd0ed0b6ab54ec2d..de3a8b78eeac5742092431ac303369629c07571d 100644
--- a/robots/franka_shadow_hand/mjcf/franka_shadow_left.xml
+++ b/robots/franka_shadow_hand/mjcf/franka_shadow_left.xml
@@ -255,7 +255,7 @@
                     <geom mesh="link7_6v" material="black" class="visual"/>
                     <geom mesh="link7_7v" material="white" class="visual"/>
                     <geom mesh="link7_c" class="collision"/>
-                    <body childclass="shadow_hand" name="forearm" pos="0 0 0.064" euler="0 0 -2.35619">
+                    <body childclass="shadow_hand" name="forearm" pos="0 0 0.064" euler="0 0 0.785398">
                       <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
                       <geom class="D_Vizual" pos="0 0.01 0.04" name="V_forearm" mesh="forearm" euler="0 0 1.57"></geom>
                       <geom class="DC_Hand" name="C_forearm" type="mesh" mesh="forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
@@ -266,7 +266,7 @@
                         <geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
                         <body name="palm" pos="0 0 0.034" euler="0 0 3.14159">
                             <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
-                            <joint name="WRJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
+                            <joint name="WRJ1" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
                             <geom class="D_Vizual" name="V_palm" mesh="palm"></geom>
                             <geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
                             <geom class="DC_Hand" name="C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
@@ -350,23 +350,23 @@
                                 <joint name="LFJ5" type="hinge" pos="0 0 0" axis="-0.571 0 -0.821" range="0 0.785"></joint>
                                 <geom class="D_Vizual" name="V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="lfmetacarpal"></geom>
                                 <geom class="DC_Hand" name="C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
-                                <body name="lfknuckle" pos="-0.017 0 0.044" euler="0 0 3.14159">
+                                <body name="lfknuckle" pos="-0.017 0 0.044">
                                     <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                    <joint name="LFJ4" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.349 0.349"></joint>
+                                    <joint name="LFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
                                     <geom class="D_Vizual" name="V_lfknuckle" mesh="knuckle"></geom>
                                     <body name="lfproximal" pos="0 0 0" euler="0 0 3.14159">
                                         <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                        <joint name="LFJ3" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
+                                        <joint name="LFJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
                                         <geom class="D_Vizual" name="V_lfproximal" mesh="F3"></geom>
                                         <geom class="DC_Hand" name="C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                                         <body name="lfmiddle" pos="0 0 0.045" euler="0 0 3.14159">
                                             <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                            <joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
+                                            <joint name="LFJ2" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
                                             <geom class="D_Vizual" name="V_lfmiddle" mesh="F2"></geom>
                                             <geom class="DC_Hand" name="C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                             <body name="lfdistal" pos="0 0 0.025" euler="0 0 3.14159">
                                                 <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                                <joint name="LFJ1" type="hinge" pos="0 0 0" axis="-1 0 0" range="0 1.571"></joint>
+                                                <joint name="LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
                                                 <geom class="D_Vizual" name="V_lfdistal" mesh="F1" pos="0 0 0.001"></geom>
                                                 <geom class="DC_Hand" name="C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                                 <site name="S_lftip" pos="0 0 0.026" group="3"></site>
@@ -376,27 +376,27 @@
                                     </body>
                                 </body>
                             </body>
-                            <body name="thbase" pos="-0.034 -0.009 0.029" euler="0 -0.785398163397 3.14159265359">
+                            <body name="thbase" pos="-0.034 -0.009 0.029" quat="0 -0.382683 0 0.92388">
                                 <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                <joint name="THJ5" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.047 1.047"></joint>
+                                <joint name="THJ5" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.2 1.047"></joint>
                                 <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                 <body name="thproximal" pos="0 0 0" euler="0 0 3.14159">
                                     <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                    <joint name="THJ4" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222"></joint>
+                                    <joint name="THJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="0 1.222"></joint>
                                     <geom class="D_Vizual" name="V_thproximal" mesh="TH3_z"></geom>
                                     <geom class="DC_Hand" name="C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
                                     <body name="thhub" pos="0 0 0.038" euler="0 0 3.14159">
                                         <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                        <joint name="THJ3" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.209 0.209"></joint>
+                                        <joint name="THJ3" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.209 0.209"></joint>
                                         <geom name="V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                         <body name="thmiddle" pos="0 0 0" euler="0 0 3.14159">
                                             <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                             <joint name="THJ2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524"></joint>
                                             <geom class="D_Vizual" name="V_thmiddle" mesh="TH2_z"></geom>
                                             <geom class="DC_Hand" name="C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
-                                            <body name="thdistal" pos="0 0 0.032" euler="0 0 3.14159">
+                                            <body name="thdistal" pos="0 0 0.032" euler="0 0 1.570796">
                                                 <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                                <joint name="THJ1" type="hinge" pos="0 0 0" axis="0 -1 0" range="0 1.571"></joint>
+                                                <joint name="THJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
                                                 <geom class="D_Vizual" name="V_thdistal" mesh="TH1_z"></geom>
                                                 <geom class="DC_Hand" name="C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
                                                 <site name="S_thtip" pos="0 0 0.0275" group="3"></site>
diff --git a/robots/franka_shadow_hand/mjcf/franka_shadow_right.xml b/robots/franka_shadow_hand/mjcf/franka_shadow_right.xml
index 0db21c313999a7cef038dea65a41c7068e04849f..5bfbb310df0b306d4ff702823a2aa649570ef3ee 100644
--- a/robots/franka_shadow_hand/mjcf/franka_shadow_right.xml
+++ b/robots/franka_shadow_hand/mjcf/franka_shadow_right.xml
@@ -297,7 +297,7 @@
                             </body>
                             <body name="mfknuckle" pos="0.011 0 0.099">
                                 <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                <joint name="MFJ4" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.349 0.349"></joint>
+                                <joint name="MFJ4" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349"></joint>
                                 <geom class="D_Vizual" name="V_mfknuckle" mesh="knuckle"></geom>
                                 <body name="mfproximal" pos="0 0 0">
                                     <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
@@ -378,25 +378,25 @@
                             </body>
                             <body name="thbase" pos="0.034 -0.009 0.029" quat="0.92388 0 0.382683 0">
                                 <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                <joint name="THJ5" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047"></joint>
+                                <joint name="THJ5" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.2 1.047"></joint>
                                 <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                 <body name="thproximal" pos="0 0 0">
                                     <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                    <joint name="THJ4" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222"></joint>
+                                    <joint name="THJ4" type="hinge" pos="0 0 0" axis="0 -1 0" range="0 1.222"></joint>
                                     <geom class="D_Vizual" name="V_thproximal" mesh="TH3_z"></geom>
                                     <geom class="DC_Hand" name="C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
                                     <body name="thhub" pos="0 0 0.038">
                                         <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                        <joint name="THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209"></joint>
+                                        <joint name="THJ3" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.209 0.209"></joint>
                                         <geom name="V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                         <body name="thmiddle" pos="0 0 0">
                                             <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                             <joint name="THJ2" type="hinge" pos="0 0 0" axis="0 -1 0" range="-0.524 0.524"></joint>
                                             <geom class="D_Vizual" name="V_thmiddle" mesh="TH2_z"></geom>
                                             <geom class="DC_Hand" name="C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
-                                            <body name="thdistal" pos="0 0 0.032">
+                                            <body name="thdistal" pos="0 0 0.032" euler="0 0 -1.570796">
                                                 <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
-                                                <joint name="THJ1" type="hinge" pos="0 0 0" axis="0 -1 0" range="0 1.571"></joint>
+                                                <joint name="THJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"></joint>
                                                 <geom class="D_Vizual" name="V_thdistal" mesh="TH1_z"></geom>
                                                 <geom class="DC_Hand" name="C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
                                                 <site name="S_thtip" pos="0 0 0.0275" group="3"></site>
diff --git a/robots/franka_shadow_hand/mjcf/meshes/palm_left.usd b/robots/franka_shadow_hand/mjcf/meshes/palm_left.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a23c06b843e802e4a8fc330830861c00d67ef354
--- /dev/null
+++ b/robots/franka_shadow_hand/mjcf/meshes/palm_left.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd983a534394134d60b1a01e55b4fb531e2175f02654c7c5c05be2aba927f564
+size 64955
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
index 7102b9dc7d201e75e0c69687328f7904943e8e60..00d47fc1375a6b0ee753e403591798e88a6cb7c8 100644
--- a/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_left.urdf
@@ -248,7 +248,7 @@
     <parent link="wrist" />
     <child link="palm" />
     <origin rpy="0 0 0" xyz="0 0 0.034" />
-    <axis xyz="1 0 0" />
+    <axis xyz="-1 0 0" />
     <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
     <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
     <dynamics damping="100.5" />
@@ -510,7 +510,7 @@
     <child link="rfknuckle" />
 
     <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -651,7 +651,7 @@
     <parent link="lfmetacarpal" />
     <child link="lfknuckle" />
     <origin rpy="0 0 0" xyz="0 0 0.06579" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -766,8 +766,8 @@
     <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="-1.047" upper="1.047" velocity="1.0" />
+    <axis xyz="-1.0 0 0.0" />
+    <limit effort="100" lower="-0.2" upper="1.047" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
   <link name="thproximal">
@@ -796,7 +796,7 @@
     <parent link="thbase" />
     <child link="thproximal" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="-1.0 0 0" />
+    <axis xyz="0.0 -1.0 0" />
     <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -826,7 +826,7 @@
     <parent link="thproximal" />
     <child link="thhub" />
     <origin rpy="0 0 0" xyz="0 0 0.038" />
-    <axis xyz="-1 0 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -856,7 +856,7 @@
     <parent link="thhub" />
     <child link="thmiddle" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -867,7 +867,7 @@
       <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" />
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
       <geometry name="thdistal_visual">
         <mesh filename="package://meshes/F1.obj"/>
       </geometry>
@@ -876,7 +876,7 @@
       </material>
     </visual>
     <collision>
-      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
       <geometry name="thmiddle_collision_geom">
         <mesh filename="package://meshes/F1.obj"/>
       </geometry>
@@ -886,7 +886,7 @@
     <parent link="thmiddle" />
     <child link="thdistal" />
     <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="1 0 0" />
     <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
diff --git a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
index 64a0e2cd9fe66dfa55f3b02acc6ba20e1c80b8e4..355035823be901d5abf9f5f3ab9e06803c4e3aeb 100644
--- a/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
+++ b/robots/franka_shadow_hand/urdf/franka_shadow_right.urdf
@@ -280,7 +280,7 @@
     <child link="ffknuckle" />
 
     <origin rpy="0 0 0" xyz="0.033 0 0.095" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -395,7 +395,7 @@
     <child link="mfknuckle" />
 
     <origin rpy="0 0 0" xyz="0.011 0 0.099" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -766,8 +766,8 @@
     <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="-1.407" upper="1.407" velocity="1.0" />
+    <axis xyz="1.0 0 0.0" />
+    <limit effort="100" lower="-0.2" upper="1.407" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
   <link name="thproximal">
@@ -796,7 +796,7 @@
     <parent link="thbase" />
     <child link="thproximal" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="1.0 0 0" />
+    <axis xyz="0 -1.0 0" />
     <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -826,7 +826,7 @@
     <parent link="thproximal" />
     <child link="thhub" />
     <origin rpy="0 0 0" xyz="0 0 0.038" />
-    <axis xyz="1 0 0" />
+    <axis xyz="0 -1.0 0" />
     <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -856,7 +856,7 @@
     <parent link="thhub" />
     <child link="thmiddle" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -886,7 +886,7 @@
     <parent link="thmiddle" />
     <child link="thdistal" />
     <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
-    <axis xyz="10 -1 0" />
+    <axis xyz="1 0 0" />
     <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
diff --git a/robots/franka_shadow_hand/urdf/meshes/palm_left.usd b/robots/franka_shadow_hand/urdf/meshes/palm_left.usd
new file mode 100644
index 0000000000000000000000000000000000000000..1f195e0fd82498c9419ca86477eed69ba235a75c
--- /dev/null
+++ b/robots/franka_shadow_hand/urdf/meshes/palm_left.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d899e07a1b886458875103a670a324e9e9617fe3c371d8355864bef196046846
+size 504271
diff --git a/robots/franka_shadow_hand/urdf/shadow_left.urdf b/robots/franka_shadow_hand/urdf/shadow_left.urdf
index 2d06ef481e898358dddfe95265dcdc533ff4648c..11176556fa758333c7c66c8d573794b2043f854a 100644
--- a/robots/franka_shadow_hand/urdf/shadow_left.urdf
+++ b/robots/franka_shadow_hand/urdf/shadow_left.urdf
@@ -109,7 +109,7 @@
     <parent link="wrist" />
     <child link="palm" />
     <origin rpy="0 0 0" xyz="0 0 0.034" />
-    <axis xyz="1 0 0" />
+    <axis xyz="-1 0 0" />
     <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
     <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
     <dynamics damping="100.5" />
@@ -371,7 +371,7 @@
     <child link="rfknuckle" />
 
     <origin rpy="0 0 0" xyz="-0.011 0 0.095" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -512,7 +512,7 @@
     <parent link="lfmetacarpal" />
     <child link="lfknuckle" />
     <origin rpy="0 0 0" xyz="0 0 0.06579" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -627,8 +627,8 @@
     <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="-1.047" upper="1.047" velocity="1.0" />
+    <axis xyz="-1.0 0 0.0" />
+    <limit effort="100" lower="-0.2" upper="1.047" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
   <link name="thproximal">
@@ -657,7 +657,7 @@
     <parent link="thbase" />
     <child link="thproximal" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="-1.0 0 0" />
+    <axis xyz="0.0 -1.0 0" />
     <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -687,7 +687,7 @@
     <parent link="thproximal" />
     <child link="thhub" />
     <origin rpy="0 0 0" xyz="0 0 0.038" />
-    <axis xyz="-1 0 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -717,7 +717,7 @@
     <parent link="thhub" />
     <child link="thmiddle" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -728,7 +728,7 @@
       <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" />
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
       <geometry name="thdistal_visual">
         <mesh filename="meshes/F1.obj"/>
       </geometry>
@@ -737,7 +737,7 @@
       </material>
     </visual>
     <collision>
-      <origin rpy="0 0 3.1415" xyz="0 0.002 0.0025" />
+      <origin rpy="0 0 0" xyz="0 0.002 0.0025" />
       <geometry name="thmiddle_collision_geom">
         <mesh filename="meshes/F1.obj"/>
       </geometry>
@@ -747,7 +747,7 @@
     <parent link="thmiddle" />
     <child link="thdistal" />
     <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="1 0 0" />
     <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
diff --git a/robots/franka_shadow_hand/urdf/shadow_right.urdf b/robots/franka_shadow_hand/urdf/shadow_right.urdf
index 7361fb6b0a5592506ca4f7cfd38960c9379713a6..9c5f0c8ca90bb294dd4cff4d0ec417743cc76501 100644
--- a/robots/franka_shadow_hand/urdf/shadow_right.urdf
+++ b/robots/franka_shadow_hand/urdf/shadow_right.urdf
@@ -141,7 +141,7 @@
     <child link="ffknuckle" />
 
     <origin rpy="0 0 0" xyz="0.033 0 0.095" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -256,7 +256,7 @@
     <child link="mfknuckle" />
 
     <origin rpy="0 0 0" xyz="0.011 0 0.099" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="0 1 0" />
     <limit effort="100" lower="-0.349" upper="0.349" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -627,8 +627,8 @@
     <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="-1.407" upper="1.407" velocity="1.0" />
+    <axis xyz="1.0 0 0.0" />
+    <limit effort="100" lower="-0.2" upper="1.407" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
   <link name="thproximal">
@@ -657,7 +657,7 @@
     <parent link="thbase" />
     <child link="thproximal" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="1.0 0 0" />
+    <axis xyz="0 -1.0 0" />
     <limit effort="100" lower="0" upper="1.222" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -687,7 +687,7 @@
     <parent link="thproximal" />
     <child link="thhub" />
     <origin rpy="0 0 0" xyz="0 0 0.038" />
-    <axis xyz="1 0 0" />
+    <axis xyz="0 -1.0 0" />
     <limit effort="100" lower="-0.209" upper="0.209" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -717,7 +717,7 @@
     <parent link="thhub" />
     <child link="thmiddle" />
     <origin rpy="0 0 0" xyz="0 0 0" />
-    <axis xyz="0 1 0" />
+    <axis xyz="0 -1 0" />
     <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
@@ -747,7 +747,7 @@
     <parent link="thmiddle" />
     <child link="thdistal" />
     <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" />
-    <axis xyz="0 -1 0" />
+    <axis xyz="1 0 0" />
     <limit effort="100" lower="0.0" upper="1.571" velocity="1.0" />
     <dynamics damping="50.5" />
   </joint>
diff --git a/robots/franka_shadow_hand/usd/franka_shadow_left.usd b/robots/franka_shadow_hand/usd/franka_shadow_left.usd
new file mode 100644
index 0000000000000000000000000000000000000000..2420b5375dc32092d45b5106374b98ea8cac0345
--- /dev/null
+++ b/robots/franka_shadow_hand/usd/franka_shadow_left.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ff2c9bc51b3cc3725f7e3b6db08d67a816a029326a6520f68f3aa3dbdfb820
+size 11268965
diff --git a/robots/franka_shadow_hand/usd/franka_shadow_right.usd b/robots/franka_shadow_hand/usd/franka_shadow_right.usd
new file mode 100644
index 0000000000000000000000000000000000000000..5f2cf8b2ce978e60a2d0bdc3cec10b7f54d57c33
--- /dev/null
+++ b/robots/franka_shadow_hand/usd/franka_shadow_right.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f5d556a59e54afa7e3ea65259cdcdaab533df4d61fa4171c1fc3917ab239a3d
+size 11740221