diff --git a/src/agillink_omnihand_sdk b/src/agillink_omnihand_sdk
new file mode 160000
index 0000000..026740d
--- /dev/null
+++ b/src/agillink_omnihand_sdk
@@ -0,0 +1 @@
+Subproject commit 026740d9fdd8ba32b0605fa702a992b322076f1b
diff --git a/src/linkerhand-l30-sdk b/src/linkerhand-l30-sdk
new file mode 160000
index 0000000..0103fc5
--- /dev/null
+++ b/src/linkerhand-l30-sdk
@@ -0,0 +1 @@
+Subproject commit 0103fc55f937b2a9edd888cf60b9cb22876d2870
diff --git a/src/linkerhand_calibration/urdf/o12_right/linkerhand_o12_t3_right-0703.urdf b/src/linkerhand_calibration/urdf/o12_right/linkerhand_o12_t3_right-0703.urdf
new file mode 100644
index 0000000..a668f76
--- /dev/null
+++ b/src/linkerhand_calibration/urdf/o12_right/linkerhand_o12_t3_right-0703.urdf
@@ -0,0 +1,1234 @@
+<?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_o12_t3_right">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.0096398047938023 -0.00047917585722887 0.0603367527946174"
+        rpy="0 0 0" />
+      <mass
+        value="0.5043" />
+      <inertia
+        ixx="0.000905166939429976"
+        ixy="-1.162348611969784E-06"
+        ixz="-7.626795314910818E-06"
+        iyy="0.000523785965540876"
+        iyz="5.837263973098434E-06"
+        izz="0.000441585624000723" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00886137366293534 3.75661207696609E-09 0.00266832955690114"
+        rpy="0 0 0" />
+      <mass
+        value="0.0065" />
+      <inertia
+        ixx="2.46519229148709E-07"
+        ixy="-2.58082866357576E-12"
+        ixz="2.49870930247022E-08"
+        iyy="1.61786325608695E-07"
+        iyz="-6.05379769020976E-13"
+        izz="2.64089097520208E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0133999999745104 0.00666067889024924 0.119355702135255"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
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+      upper="0.26"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
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+        iyz="3.112036982022315E-09"
+        izz="6.346714721952047E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.01337 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
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+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_middle.STL" />
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+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
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+    <collision>
+      <origin
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+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
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+    type="revolute">
+    <origin
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+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
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+      upper="1.71"
+      effort="0.49"
+      velocity="2.51" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.008006 -0.00010704 0.0063998"
+        rpy="0 0 0" />
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+        iyz="2.3900330369E-09"
+        izz="3.4024356403E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.005529 0 0.031336"
+      rpy="0 0 0" />
+    <parent
+      link="middle_middle" />
+    <child
+      link="middle_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="middle_pip"
+      multiplier="0.7654"
+      offset="0" />
+  </joint>
+  <link
+    name="index_metacarpals">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
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+        iyz="-5.74938282245665E-11"
+        izz="2.51936897951311E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0134 0.030778 0.11936"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="index_metacarpals" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="1.16"
+      velocity="1.31" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="index_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0019557689979677 3.15743659071999E-05 0.0192761513183458"
+        rpy="0 0 0" />
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+        iyz="1.76216459527646E-09"
+        izz="5.88415039537553E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_proximal.STL" />
+      </geometry>
+      <material
+        name="">
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.01357 0 0"
+      rpy="-1.9684E-05 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
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+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
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+  <link
+    name="index_middle">
+    <inertial>
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+        rpy="0 0 0" />
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+        iyz="-3.0538007769026E-11"
+        izz="2.78531253375634E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_middle.STL" />
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+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0044047 0 0.039781"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
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+      upper="1.48"
+      effort="0.49"
+      velocity="2.18" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
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+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.0080474 1.295E-05 0.0063476"
+        rpy="0 0 0" />
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+        value="0.0111" />
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+        iyz="2.3845158565E-09"
+        izz="3.4268824569E-07" />
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+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
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+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.0058514 0 0.026478"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
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+      velocity="1" />
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+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.8824"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
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+        iyz="-1.94271306611811E-07"
+        izz="4.36158632191254E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00148 0.022278 0.04025"
+      rpy="-1.7628 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="thumb_metacarpals_base1" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="0"
+      upper="0.73"
+      effort="0.49"
+      velocity="2.15" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base2">
+    <inertial>
+      <origin
+        xyz="0.00144111904824129 -0.00076972479422515 0.0110530838934258"
+        rpy="0 0 0" />
+      <mass
+        value="0.0154" />
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+        ixy="6.14948760921004E-09"
+        ixz="2.94710079786787E-08"
+        iyy="9.44542088110474E-07"
+        iyz="-2.01816524085327E-07"
+        izz="7.10177147603316E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.029071 4.9998E-05 0.0033014"
+      rpy="0 1.0996 0" />
+    <parent
+      link="thumb_metacarpals_base1" />
+    <child
+      link="thumb_metacarpals_base2" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.94"
+      effort="0.49"
+      velocity="1.24" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="thumb_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00249198419868435 0.000126914318374638 0.0270122621043989"
+        rpy="0 0 0" />
+      <mass
+        value="0.0792" />
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+        ixx="3.0322840108832E-05"
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+        ixz="4.29797271959027E-07"
+        iyy="3.76985272267388E-05"
+        iyz="-5.29253620352027E-08"
+        izz="9.49589868160643E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0016774 -0.0068611 0.022935"
+      rpy="0 0.66442 -1.5708" />
+    <parent
+      link="thumb_metacarpals_base2" />
+    <child
+      link="thumb_metacarpals" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="0.85"
+      effort="0.74"
+      velocity="0.11" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="thumb_proximal">
+    <inertial>
+      <origin
+        xyz="-0.0023803618469958 0.000356679953015498 0.0132497758448504"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177" />
+      <inertia
+        ixx="1.53379874098712E-06"
+        ixy="2.71020185597559E-09"
+        ixz="2.0986051110036E-07"
+        iyy="2.07524473343508E-06"
+        iyz="1.53138752534744E-08"
+        izz="9.88807296623356E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="0.0067825 0 0.055819"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_metacarpals" />
+    <child
+      link="thumb_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.29"
+      effort="0.74"
+      velocity="1.68" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="thumb_distal">
+    <inertial>
+      <origin
+        xyz="-0.0008645 -4.3813E-07 0.011072"
+        rpy="0 0 0" />
+      <mass
+        value="0.0118" />
+      <inertia
+        ixx="1.1027758638E-06"
+        ixy="-4.2809309036E-11"
+        ixz="-1.9073046928E-07"
+        iyy="1.0151187748E-06"
+        iyz="-3.336292687E-11"
+        izz="6.2979666568E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_dip"
+    type="revolute">
+    <origin
+      xyz="-0.0027408 0 0.034616"
+      rpy="0 0 0" />
+    <parent
+      link="thumb_proximal" />
+    <child
+      link="thumb_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="thumb_mcp"
+      multiplier="1.0135"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00172922550301519 -9.82074263994326E-06 0.0192977931268597"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202" />
+      <inertia
+        ixx="2.88029705326746E-06"
+        ixy="-5.93805389957045E-10"
+        ixz="-1.07627671885494E-07"
+        iyy="3.18262264913506E-06"
+        iyz="1.88039230059213E-09"
+        izz="6.22737208693843E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0001598 -0.033576 0.11272"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="pinky_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.38"
+      effort="0.77"
+      velocity="1.86" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="pinky_middle">
+    <inertial>
+      <origin
+        xyz="0.00110260964201986 1.01987498332679E-06 0.0136767611241538"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058" />
+      <inertia
+        ixx="5.25548613845973E-07"
+        ixy="8.0386277463163E-11"
+        ixz="3.24083698851051E-08"
+        iyy="4.3233056388612E-07"
+        iyz="-3.07046702134225E-11"
+        izz="2.7925831602385E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0039371 0 0.03983"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_proximal" />
+    <child
+      link="pinky_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="pinky_mcp_pitch"
+      multiplier="1.114"
+      offset="0" />
+  </joint>
+  <link
+    name="pinky_distal">
+    <inertial>
+      <origin
+        xyz="-0.0079723 -2.8447E-05 0.0064416"
+        rpy="0 0 0" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.639392378E-07"
+        ixy="-6.789461225E-10"
+        ixz="-1.8440224249E-07"
+        iyy="7.718345132E-07"
+        iyz="2.3925537176E-09"
+        izz="3.3829828232E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.006162 0 0.026407"
+      rpy="0 0 0" />
+    <parent
+      link="pinky_middle" />
+    <child
+      link="pinky_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="pinky_pip"
+      multiplier="0.852"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00172922550301519 -9.82074263994326E-06 0.0163977931268597"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202" />
+      <inertia
+        ixx="3.31628965409077E-06"
+        ixy="-6.83690131552215E-10"
+        ixz="-1.23919348652889E-07"
+        iyy="3.66437848909659E-06"
+        iyz="2.16502861224382E-09"
+        izz="7.17001380140977E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0001598 -0.013518 0.11972"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="ring_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.38"
+      effort="0.77"
+      velocity="1.86" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="ring_middle">
+    <inertial>
+      <origin
+        xyz="0.0011025863165428 9.99259520961804E-07 0.0136767566654282"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058" />
+      <inertia
+        ixx="5.25550078268173E-07"
+        ixy="7.97767209213879E-11"
+        ixz="3.24082898309213E-08"
+        iyy="4.32331438943549E-07"
+        iyz="-3.09439310137463E-11"
+        izz="2.79258361138016E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0039371 0 0.03983"
+      rpy="0 0 0" />
+    <parent
+      link="ring_proximal" />
+    <child
+      link="ring_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.54"
+      effort="0"
+      velocity="0" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="ring_mcp_pitch"
+      multiplier="1.125"
+      offset="0" />
+  </joint>
+  <link
+    name="ring_distal">
+    <inertial>
+      <origin
+        xyz="-0.0079723 -2.8447E-05 0.0064416"
+        rpy="0 0 0" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.639392378E-07"
+        ixy="-6.789461225E-10"
+        ixz="-1.8440224249E-07"
+        iyy="7.718345132E-07"
+        iyz="2.3924586938E-09"
+        izz="3.3829828232E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.29804 0.29804 0.29804 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.006162 0 0.026407"
+      rpy="0 0 0" />
+    <parent
+      link="ring_middle" />
+    <child
+      link="ring_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="ring_pip"
+      multiplier="0.83"
+      offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/base_link.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/base_link.STL
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index 0000000..42541fa
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/index_distal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/index_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/index_metacarpals.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/index_metacarpals.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/index_middle.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/index_middle.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/index_proximal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/index_proximal.STL
new file mode 100644
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/middle_distal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/middle_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/middle_metacarpals.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/middle_metacarpals.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/middle_middle.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/middle_middle.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/middle_proximal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..5e7d424
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_distal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_distal.STL
new file mode 100644
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_middle.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_middle.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_proximal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/pinky_proximal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/ring_distal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/ring_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/ring_middle.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/ring_middle.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/ring_proximal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/ring_proximal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_distal.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_distal.STL
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diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_metacarpals.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_metacarpals.STL
new file mode 100644
index 0000000..aa9f94b
Binary files /dev/null and b/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_metacarpals.STL differ
diff --git a/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_metacarpals_base1.STL b/src/linkerhand_calibration/urdf/o12_right/meshes/thumb_metacarpals_base1.STL
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