diff --git a/O30/left/linkerhand_O30i_left.urdf b/O30/left/linkerhand_O30i_left.urdf
new file mode 100644
index 0000000..6508de6
--- /dev/null
+++ b/O30/left/linkerhand_O30i_left.urdf
@@ -0,0 +1,605 @@
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\ No newline at end of file
diff --git a/O30/left/meshes/hand_base_link.STL b/O30/left/meshes/hand_base_link.STL
new file mode 100644
index 0000000..4709992
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diff --git a/O30/left/meshes/index_distal.STL b/O30/left/meshes/index_distal.STL
new file mode 100644
index 0000000..95a82e4
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diff --git a/O30/left/meshes/index_metacarpals.STL b/O30/left/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..5350a6c
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diff --git a/O30/left/meshes/index_middle.STL b/O30/left/meshes/index_middle.STL
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diff --git a/O30/left/meshes/middle_distal.STL b/O30/left/meshes/middle_distal.STL
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diff --git a/O30/left/meshes/middle_metacarpals.STL b/O30/left/meshes/middle_metacarpals.STL
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diff --git a/O30/left/meshes/middle_middle.STL b/O30/left/meshes/middle_middle.STL
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index 0000000..08ad22c
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diff --git a/O30/left/meshes/middle_proximal.STL b/O30/left/meshes/middle_proximal.STL
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diff --git a/O30/left/meshes/pinky_distal.STL b/O30/left/meshes/pinky_distal.STL
new file mode 100644
index 0000000..e866419
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diff --git a/O30/left/meshes/pinky_metacarpals.STL b/O30/left/meshes/pinky_metacarpals.STL
new file mode 100644
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diff --git a/O30/left/meshes/pinky_middle.STL b/O30/left/meshes/pinky_middle.STL
new file mode 100644
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diff --git a/O30/left/meshes/pinky_proximal.STL b/O30/left/meshes/pinky_proximal.STL
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diff --git a/O30/left/meshes/ring_distal.STL b/O30/left/meshes/ring_distal.STL
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diff --git a/O30/left/meshes/ring_metacarpals.STL b/O30/left/meshes/ring_metacarpals.STL
new file mode 100644
index 0000000..d1ed58d
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diff --git a/O30/left/meshes/ring_middle.STL b/O30/left/meshes/ring_middle.STL
new file mode 100644
index 0000000..475ae10
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diff --git a/O30/left/meshes/ring_proximal.STL b/O30/left/meshes/ring_proximal.STL
new file mode 100644
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diff --git a/O30/left/meshes/thumb_distal.STL b/O30/left/meshes/thumb_distal.STL
new file mode 100644
index 0000000..86d1e87
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diff --git a/O30/left/meshes/thumb_metacarpals_base1.STL b/O30/left/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..c32351f
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diff --git a/O30/left/meshes/thumb_metacarpals_base2.STL b/O30/left/meshes/thumb_metacarpals_base2.STL
new file mode 100644
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diff --git a/O30/left/meshes/thumb_proximal.STL b/O30/left/meshes/thumb_proximal.STL
new file mode 100644
index 0000000..6bd0d4e
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diff --git a/O30/right/linkerhand_O30i_right.urdf b/O30/right/linkerhand_O30i_right.urdf
new file mode 100644
index 0000000..07febe4
--- /dev/null
+++ b/O30/right/linkerhand_O30i_right.urdf
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\ No newline at end of file
diff --git a/O30/right/meshes/hand_base_link.STL b/O30/right/meshes/hand_base_link.STL
new file mode 100644
index 0000000..4709992
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diff --git a/O30/right/meshes/index_distal.STL b/O30/right/meshes/index_distal.STL
new file mode 100644
index 0000000..95a82e4
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diff --git a/O30/right/meshes/index_metacarpals.STL b/O30/right/meshes/index_metacarpals.STL
new file mode 100644
index 0000000..5350a6c
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diff --git a/O30/right/meshes/index_middle.STL b/O30/right/meshes/index_middle.STL
new file mode 100644
index 0000000..0ebdc32
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diff --git a/O30/right/meshes/index_proximal.STL b/O30/right/meshes/index_proximal.STL
new file mode 100644
index 0000000..24f402e
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diff --git a/O30/right/meshes/middle_distal.STL b/O30/right/meshes/middle_distal.STL
new file mode 100644
index 0000000..9d0b26e
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diff --git a/O30/right/meshes/middle_metacarpals.STL b/O30/right/meshes/middle_metacarpals.STL
new file mode 100644
index 0000000..70dca38
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diff --git a/O30/right/meshes/middle_middle.STL b/O30/right/meshes/middle_middle.STL
new file mode 100644
index 0000000..08ad22c
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diff --git a/O30/right/meshes/middle_proximal.STL b/O30/right/meshes/middle_proximal.STL
new file mode 100644
index 0000000..ac2f7ce
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diff --git a/O30/right/meshes/pinky_distal.STL b/O30/right/meshes/pinky_distal.STL
new file mode 100644
index 0000000..e866419
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diff --git a/O30/right/meshes/pinky_metacarpals.STL b/O30/right/meshes/pinky_metacarpals.STL
new file mode 100644
index 0000000..fceb9c1
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diff --git a/O30/right/meshes/pinky_middle.STL b/O30/right/meshes/pinky_middle.STL
new file mode 100644
index 0000000..3e8720c
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diff --git a/O30/right/meshes/pinky_proximal.STL b/O30/right/meshes/pinky_proximal.STL
new file mode 100644
index 0000000..dbf9977
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diff --git a/O30/right/meshes/ring_distal.STL b/O30/right/meshes/ring_distal.STL
new file mode 100644
index 0000000..533ca95
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diff --git a/O30/right/meshes/ring_metacarpals.STL b/O30/right/meshes/ring_metacarpals.STL
new file mode 100644
index 0000000..d1ed58d
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diff --git a/O30/right/meshes/ring_middle.STL b/O30/right/meshes/ring_middle.STL
new file mode 100644
index 0000000..475ae10
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diff --git a/O30/right/meshes/ring_proximal.STL b/O30/right/meshes/ring_proximal.STL
new file mode 100644
index 0000000..29a3b45
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diff --git a/O30/right/meshes/thumb_distal.STL b/O30/right/meshes/thumb_distal.STL
new file mode 100644
index 0000000..86d1e87
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diff --git a/O30/right/meshes/thumb_metacarpals_base1.STL b/O30/right/meshes/thumb_metacarpals_base1.STL
new file mode 100644
index 0000000..c32351f
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diff --git a/O30/right/meshes/thumb_metacarpals_base2.STL b/O30/right/meshes/thumb_metacarpals_base2.STL
new file mode 100644
index 0000000..78da4da
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diff --git a/O30/right/meshes/thumb_proximal.STL b/O30/right/meshes/thumb_proximal.STL
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