diff --git a/allegro_hand/LICENSE b/allegro_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..eb5222b7940d64febd3a0747b063a57101069666
--- /dev/null
+++ b/allegro_hand/LICENSE
@@ -0,0 +1,23 @@
+Copyright (c) 2016, SimLab
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+
+
+dex_urdf 2024:
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
+
+
+Genesis AI 2025:
+
+Updated joint and link names.
\ No newline at end of file
diff --git a/allegro_hand/allegro_hand_left.urdf b/allegro_hand/allegro_hand_left.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7cb6c0a6b244a7fe2eeabdf0109fcbbb1df17ca7
--- /dev/null
+++ b/allegro_hand/allegro_hand_left.urdf
@@ -0,0 +1,543 @@
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diff --git a/allegro_hand/allegro_hand_left_glb.urdf b/allegro_hand/allegro_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..48d4e5ef6c34c493d96ca89f02e5ab000e3e7d7a
--- /dev/null
+++ b/allegro_hand/allegro_hand_left_glb.urdf
@@ -0,0 +1,543 @@
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diff --git a/allegro_hand/allegro_hand_right.urdf b/allegro_hand/allegro_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f72750180fbef7f4f5497dfbd4c1b6233991cd22
--- /dev/null
+++ b/allegro_hand/allegro_hand_right.urdf
@@ -0,0 +1,542 @@
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diff --git a/allegro_hand/allegro_hand_right_glb.urdf b/allegro_hand/allegro_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3adbc74345f69c15f98894658d08dd3be7b93657
--- /dev/null
+++ b/allegro_hand/allegro_hand_right_glb.urdf
@@ -0,0 +1,542 @@
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diff --git a/allegro_hand/meshes/collision/link_tip.obj b/allegro_hand/meshes/collision/link_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d0f5669284afaa7ae5127c710ec90fea8be1088
--- /dev/null
+++ b/allegro_hand/meshes/collision/link_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd517fb6f1b4ccec9ef48501b2a41494d700fdf376f37aa6909afcee172e64f4
+size 67338
diff --git a/allegro_hand/meshes/visual/base_link.glb b/allegro_hand/meshes/visual/base_link.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4d216e65f90299f74b2955d0b13785b19fd5cc8a
--- /dev/null
+++ b/allegro_hand/meshes/visual/base_link.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b957aa87e9fe4aa0f58a5192ca4583b6d4c3584f0a51ee8cd99ad76261c8d8
+size 150276
diff --git a/allegro_hand/meshes/visual/base_link.mtl b/allegro_hand/meshes/visual/base_link.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0a2dc7e79f8e99788db30b5b34b2ac26ae517563
--- /dev/null
+++ b/allegro_hand/meshes/visual/base_link.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
+Ns 639.999995
+Ka 0.500000 0.500000 0.500000
+Kd 0.004025 0.004025 0.004025
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/allegro_hand/meshes/visual/base_link.obj b/allegro_hand/meshes/visual/base_link.obj
new file mode 100644
index 0000000000000000000000000000000000000000..459477c1bb96b3f953936bbcf92825cf023fab5a
--- /dev/null
+++ b/allegro_hand/meshes/visual/base_link.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf8daf270ac7e427ee477515bfcbcee306958e8b2ea8a23ecb7a319c5c8690f
+size 195076
diff --git a/allegro_hand/meshes/visual/base_link_left.glb b/allegro_hand/meshes/visual/base_link_left.glb
new file mode 100644
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--- /dev/null
+++ b/allegro_hand/meshes/visual/base_link_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/base_link_left.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_0.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+++ b/allegro_hand/meshes/visual/link_1.0.glb
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_1.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_1.0.obj
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_12.0_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_12.0_left.mtl
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+# Blender 3.6.1 MTL File: 'None'
+# www.blender.org
+
+newmtl black_metal
+Ns 640.000000
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_12.0_right.glb
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+version https://git-lfs.github.com/spec/v1
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diff --git a/allegro_hand/meshes/visual/link_12.0_right.mtl b/allegro_hand/meshes/visual/link_12.0_right.mtl
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_12.0_right.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_13.0.mtl
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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+++ b/allegro_hand/meshes/visual/link_14.0.mtl
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+# Blender MTL File: 'None'
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+
+newmtl black_metal
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
+++ b/allegro_hand/meshes/visual/link_15.0.mtl
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+# Blender MTL File: 'None'
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+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+# Blender MTL File: 'None'
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+++ b/allegro_hand/meshes/visual/link_3.0.mtl
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+++ b/allegro_hand/meshes/visual/link_4.0.mtl
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diff --git a/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf b/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a0d291848011b81b9a18a33ed7d426816b045cb
--- /dev/null
+++ b/allegro_hand/variation/allegro_hand_right_fsr_cylinder.urdf
@@ -0,0 +1,840 @@
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diff --git a/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf b/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6f91c16779b90523312ae9d0ade61ccd9a14b46
--- /dev/null
+++ b/allegro_hand/variation/allegro_hand_right_fsr_glb.urdf
@@ -0,0 +1,829 @@
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diff --git a/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf b/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcfbe84f90cd7f0ca07a2cfa086cf335a83cc6c1
--- /dev/null
+++ b/allegro_hand/variation/allegro_hand_right_fsr_simple.urdf
@@ -0,0 +1,848 @@
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diff --git a/allegro_hand/variation/meshes/collision/longer_finger_tip.obj b/allegro_hand/variation/meshes/collision/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fbaa2fb7cd97bbfeace9b407f1bcffdc0c817dad
--- /dev/null
+++ b/allegro_hand/variation/meshes/collision/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9bcc85a90a9d63f4767ba4a3e931e67dedb952132e3605f9cbcc697a1dbb88
+size 102200
diff --git a/allegro_hand/variation/meshes/visual/longer_finger_tip.glb b/allegro_hand/variation/meshes/visual/longer_finger_tip.glb
new file mode 100644
index 0000000000000000000000000000000000000000..35f433ab879d38151c8988d521ddeb49cfc4dcfb
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/longer_finger_tip.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a99b74adc1b7b28a4fd90dcea4046016d8e9aefe27ec87e7e15159ad9ea42bd9
+size 166232
diff --git a/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl b/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7b1b9d2fb3e93fcfcc59eaf69e41ada5b05f576d
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/longer_finger_tip.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/allegro_hand/variation/meshes/visual/longer_finger_tip.obj b/allegro_hand/variation/meshes/visual/longer_finger_tip.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d5b788af51dbf66218d65e39c6c8f6043e3dbe59
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/longer_finger_tip.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45bf44eaed5c647aa79c54b8a93192b29ce996d0b320dba6a207403f141c4a32
+size 320165
diff --git a/allegro_hand/variation/meshes/visual/tactile.glb b/allegro_hand/variation/meshes/visual/tactile.glb
new file mode 100644
index 0000000000000000000000000000000000000000..60664080436f7c5c66aabb201ec34434fefd84cc
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/tactile.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1eff9d29d0f953084ec38e48054bf2f8ea085deafb29a74072fabf87cc6060f
+size 328600
diff --git a/allegro_hand/variation/meshes/visual/tactile.mtl b/allegro_hand/variation/meshes/visual/tactile.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cef6305ed00f267b801fe5bc86388de15d999a0f
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/tactile.mtl
@@ -0,0 +1,22 @@
+# Blender 4.0.2 MTL File: 'None'
+# www.blender.org
+
+newmtl RED_FRONT
+Ns 39.999996
+Ka 1.000000 1.000000 1.000000
+Kd 0.807338 0.000430 0.002673
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl SILER_PART
+Ns 902.500000
+Ka 0.500000 0.500000 0.500000
+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/allegro_hand/variation/meshes/visual/tactile.obj b/allegro_hand/variation/meshes/visual/tactile.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54072dd5873123576f90dd6c9db91239b59e7bbe
--- /dev/null
+++ b/allegro_hand/variation/meshes/visual/tactile.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6112bda50cfa7478faae3df4767d5ed471c26b9bb6216550848578a8d9994d
+size 647838