diff --git a/robots/franka_allegro_hand/urdf/allegro_left.urdf b/robots/franka_allegro_hand/urdf/allegro_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c3279d72d85a509054296852d11403fbaa2de136
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/allegro_left.urdf
@@ -0,0 +1,630 @@
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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..7a74878abcf68ea1cc43dbbbe527219e784e8681
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/allegro_right.urdf
@@ -0,0 +1,624 @@
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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..0cb97924dd3c1aa18e22132843761008a412750c
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_allegro_left.urdf
@@ -0,0 +1,770 @@
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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..928f4ccd278e837b65392abcfcd9227d79a22b1b
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_allegro_right.urdf
@@ -0,0 +1,751 @@
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/collision/finger.obj b/robots/franka_allegro_hand/urdf/franka_meshes/collision/finger.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dfb1c20cc695f7855c4dea049068207e7746aab
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/finger.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/collision/finger.stl b/robots/franka_allegro_hand/urdf/franka_meshes/collision/finger.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ef5e672efbb990561b36fcee2c15b2f61cf42065
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/finger.stl
@@ -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/collision/hand.obj b/robots/franka_allegro_hand/urdf/franka_meshes/collision/hand.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b4c221d1a459dae97dcdc440f0a5ebebe33530
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/hand.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..bb315217a60e27343b84a9d4e3a4686762c4fc8d
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+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..7412eb8ed75e7b288d29bc84c16fffe45dcde56d
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link0.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..bbe58384ff30b933eb8758429c4f5cbd970c1b50
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index 0000000000000000000000000000000000000000..8f95dc8977ebc1e544d4210de64a54d1b2b2e6d3
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index 0000000000000000000000000000000000000000..b7e855112619448e2cf63660e07387871de542ac
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..efbe2d0899ad05990de568d962d5b4613468a2b0
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index 0000000000000000000000000000000000000000..6ba548f4137d4ba09e7b0d9299fa631b27af1ea1
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..9d49f9be7ff1fbacfef4d468536482e9a107f626
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index 0000000000000000000000000000000000000000..7115ba0e92d33fd3a2e6e2087df980ae8b9a6730
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index 0000000000000000000000000000000000000000..8475bfe8a342f512acdb4fd4f6f625c35ea0d608
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..88c6db70bf3c3b68bce08b9bcb5142050b1f9079
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/collision/link5.obj b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7353fc607aeb2e6259856d9da0ed05ee8d6e670f
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
index 0000000000000000000000000000000000000000..5eaf5c8ec2155135ab9297d51e3dae6e5e280675
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@@ -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/collision/link6.obj b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b72452079345141e577c5a022cf1618d3eab246
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link6.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/collision/link6.stl b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link6.stl
new file mode 100644
index 0000000000000000000000000000000000000000..828ad3bd384b22ef734d8add0e50d6ae449dce9c
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link6.stl
@@ -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/collision/link7.obj b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..705a6ddad1f577facb2eaba11bb98da41f8314e3
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link7.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/collision/link7.stl b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link7.stl
new file mode 100644
index 0000000000000000000000000000000000000000..2047756ec662f051af90fe61266998bf16e655fe
--- /dev/null
+++ b/robots/franka_allegro_hand/urdf/franka_meshes/collision/link7.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10084
diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.bat b/robots/franka_allegro_hand/urdf/franka_meshes/collision/stltoobj.bat
new file mode 100644
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 @@
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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 @@
+
+
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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
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+newmtl Part__Feature_007
+Ns -1.960784
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+Ks 0.250000 0.250000 0.250000
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diff --git a/robots/franka_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
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+
+newmtl Part__Feature002_005_005
+Ns -1.960784
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+newmtl Part__Feature005_001_005
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+newmtl Part__Feature005_001_005_001
+Ns -1.960784
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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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+illum 2
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
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diff --git a/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.dae b/robots/franka_allegro_hand/urdf/franka_meshes/visual/link0.dae
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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
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