diff --git a/src/linkerhand_calibration/urdf/o6_right/linkerhand_o6_right.urdf b/src/linkerhand_calibration/urdf/o6_right/linkerhand_o6_right.urdf
new file mode 100644
index 0000000..8fca23e
--- /dev/null
+++ b/src/linkerhand_calibration/urdf/o6_right/linkerhand_o6_right.urdf
@@ -0,0 +1,664 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="linkerhand_o6_right">
+  <material name="silver">
+    <color rgba="0.5 0.5 0.52 1.0"/>
+  </material>
+  
+  <material name="BlackAccent">
+    <color rgba="0.15 0.15 0.15 1.0"/>
+  </material>
+  <link
+    name="rh_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.00160320773490556 0.000358462699237561 0.0538002704027215"
+        rpy="0 0 0" />
+      <mass
+        value="0.06740077960995" />
+      <inertia
+        ixx="5.22359941041901E-05"
+        ixy="3.0391535852764E-07"
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+        iyy="3.33473043513648E-05"
+        iyz="-7.77555280794861E-07"
+        izz="2.28342677422006E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="rh_thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00162795738393507 0.00276671978336815 -0.00184227725602707"
+        rpy="0 0 0" />
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+        iyz="3.71867754115443E-09"
+        izz="2.88555522060562E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material name="BlackAccent"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.011508 0.022975 0.032794"
+      rpy="0 0 0" />
+    <parent
+      link="rh_hand_base_link" />
+    <child
+      link="rh_thumb_metacarpals_base2" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="0"
+      upper="1.36"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_thumb_metacarpals">
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+        rpy="0 0 0" />
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+        iyz="-4.24576599367025E-10"
+        izz="9.36348143657406E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_thumb_cmc_pitch"
+    type="revolute">
+    <origin
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+      rpy="0 -1.1529 -2.0944" />
+    <parent
+      link="rh_thumb_metacarpals_base2" />
+    <child
+      link="rh_thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.58"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_thumb_distal">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+        izz="2.7729897944409E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+      <material name="silver"/>
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+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_thumb_ip"
+    type="revolute">
+    <origin
+      xyz="0.0037776 0 0.045368"
+      rpy="0 0 0" />
+    <parent
+      link="rh_thumb_metacarpals" />
+    <child
+      link="rh_thumb_distal" />
+    <axis
+      xyz="0 1 0" />
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+      lower="0"
+      upper="1.08"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="rh_thumb_cmc_pitch"
+      multiplier="1.86"
+      offset="0" />
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+  <link
+    name="rh_index_proximal">
+    <inertial>
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+        iyz="1.75935978708959E-10"
+        izz="8.56026306687528E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 0.02419 0.098779"
+      rpy="-0.05236 0 0" />
+    <parent
+      link="rh_hand_base_link" />
+    <child
+      link="rh_index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_index_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940011630532 -4.59976557022623E-06 0.0194434136420913"
+        rpy="0 0 0" />
+      <mass
+        value="0.00376787129082313" />
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+        ixx="3.22116619426455E-07"
+        ixy="1.03152735699049E-11"
+        ixz="-1.14363506430985E-07"
+        iyy="3.65131844686317E-07"
+        iyz="-1.97263639269362E-10"
+        izz="1.24256890612907E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_index_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="rh_index_proximal" />
+    <child
+      link="rh_index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="rh_index_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="rh_middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208661081773556 -4.93451838476378E-06 0.0172736805321904"
+        rpy="0 0 0" />
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+        ixy="-3.58343951791586E-11"
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+        iyz="1.75718024412593E-10"
+        izz="8.56020467202518E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.00052576 0.00634 0.1027"
+      rpy="0 0 0" />
+    <parent
+      link="rh_hand_base_link" />
+    <child
+      link="rh_middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_middle_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940304809306 -4.5885743593238E-06 0.0194434523296449"
+        rpy="0 0 0" />
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+        iyz="-1.96904618797577E-10"
+        izz="1.24256787913797E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_middle_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="rh_middle_proximal" />
+    <child
+      link="rh_middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="rh_middle_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="rh_ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208654311325356 -4.98538564003281E-06 0.0172736743497407"
+        rpy="0 0 0" />
+      <mass
+        value="0.00253170963529411" />
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+        ixx="2.6598913795678E-07"
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+        iyz="1.75554984053478E-10"
+        izz="8.56012458677515E-08" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0010258 -0.011135 0.098767"
+      rpy="0.05236 0 0" />
+    <parent
+      link="rh_hand_base_link" />
+    <child
+      link="rh_ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_ring_distal">
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+        iyz="-1.96145632992445E-10"
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_ring_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="rh_ring_proximal" />
+    <child
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+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="rh_ring_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+  <link
+    name="rh_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00208649034130813 -5.02314582560837E-06 0.0172736680793697"
+        rpy="0 0 0" />
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+        iyz="1.75447396222308E-10"
+        izz="8.56006424720129E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0024758 -0.028372 0.092741"
+      rpy="0.087266 0 0" />
+    <parent
+      link="rh_hand_base_link" />
+    <child
+      link="rh_pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.60"
+      effort="100"
+      velocity="1" />
+  </joint>
+  <link
+    name="rh_pinky_distal">
+    <inertial>
+      <origin
+        xyz="0.00658940431519205 -4.55268314210333E-06 0.0194435341098305"
+        rpy="0 0 0" />
+      <mass
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+        iyz="-1.95589215866356E-10"
+        izz="1.24256004854426E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+      <material name="silver"/>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="rh_pinky_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0052516 0 0.036625"
+      rpy="0 0 0" />
+    <parent
+      link="rh_pinky_proximal" />
+    <child
+      link="rh_pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.43"
+      effort="100"
+      velocity="1" />
+    <mimic
+      joint="rh_pinky_mcp_pitch"
+      multiplier="0.89"
+      offset="0" />
+  </joint>
+</robot>
diff --git a/src/linkerhand_calibration/urdf/o6_right/meshes/hand_base_link.STL b/src/linkerhand_calibration/urdf/o6_right/meshes/hand_base_link.STL
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diff --git a/src/linkerhand_calibration/urdf/o6_right/meshes/index_distal.STL b/src/linkerhand_calibration/urdf/o6_right/meshes/index_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o6_right/meshes/index_proximal.STL b/src/linkerhand_calibration/urdf/o6_right/meshes/index_proximal.STL
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diff --git a/src/linkerhand_calibration/urdf/o6_right/meshes/middle_distal.STL b/src/linkerhand_calibration/urdf/o6_right/meshes/middle_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o6_right/meshes/middle_proximal.STL b/src/linkerhand_calibration/urdf/o6_right/meshes/middle_proximal.STL
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