diff --git a/O12/linkerhand_o12_left.urdf b/O12/linkerhand_o12_left.urdf
new file mode 100644
index 0000000..bca7a82
--- /dev/null
+++ b/O12/linkerhand_o12_left.urdf
@@ -0,0 +1,1231 @@
+<?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_left">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00423014363795434 0.00101546757666631 0.0570276174136961"
+        rpy="0 0 0" />
+      <mass
+        value="0.5043" />
+      <inertia
+        ixx="0.000790560891576457"
+        ixy="6.74779063820338E-07"
+        ixz="-1.57870032674821E-05"
+        iyy="0.000460630398102781"
+        iyz="-1.72290102583609E-05"
+        izz="0.00039452297049318" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/base_link.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_left/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="middle_metacarpals">
+    <inertial>
+      <origin
+        xyz="0.00886143320912533 -6.77725009133601E-08 0.00266834127233271"
+        rpy="0 0 0" />
+      <mass
+        value="0.0065" />
+      <inertia
+        ixx="2.46519023458078E-07"
+        ixy="2.89885432042724E-12"
+        ixz="2.49870123456789E-08"
+        iyy="1.61786012345678E-07"
+        iyz="-6.53590123456789E-13"
+        izz="2.64089012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/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_left/meshes/middle_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0133999999745647 -0.00666067889023505 0.119355702135265"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="middle_metacarpals" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.26"
+      upper="0.26"
+      effort="1"
+      velocity="1" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00168356886697832 -2.64991674755327E-06 0.0214761836061677"
+        rpy="0 0 0" />
+      <mass
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+      <inertia
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+        ixy="4.61230012345678E-10"
+        ixz="-1.05760012345678E-07"
+        iyy="3.73500012345678E-06"
+        iyz="-2.93290012345678E-09"
+        izz="6.01160012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/middle_proximal.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_left/meshes/middle_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0133698026187091 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="middle_metacarpals" />
+    <child
+      link="middle_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="0.000778140926528736 5.18554064587069E-05 0.0163598926819399"
+        rpy="0 0 0" />
+      <mass
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+      <inertia
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+        ixy="4.41100012345678E-11"
+        ixz="4.28380012345678E-08"
+        iyy="6.03570012345678E-07"
+        iyz="-2.25230012345678E-11"
+        izz="2.98930012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/middle_middle.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_left/meshes/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0040395662116266 0 0.0448372524226953"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.71"
+      effort="0.49"
+      velocity="2.51" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_distal">
+    <inertial>
+      <origin
+        xyz="-0.00800397840452252 0.000107135378550418 0.0064103480349392"
+        rpy="0 0 0" />
+      <mass
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+      <inertia
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+        ixy="7.08100012345678E-10"
+        ixz="-1.86400012345678E-07"
+        iyy="7.71500012345678E-07"
+        iyz="-2.39830012345678E-09"
+        izz="3.40460012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/middle_distal.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_left/meshes/middle_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_dip"
+    type="revolute">
+    <origin
+      xyz="0.00552899785311657 0 0.0313359630899766"
+      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
+        xyz="0.00904693768157934 -2.37412538109296E-06 0.00296431686093978"
+        rpy="0 0 0" />
+      <mass
+        value="0.0065" />
+      <inertia
+        ixx="2.63870012345678E-07"
+        ixy="7.05800012345678E-11"
+        ixz="2.93810012345678E-08"
+        iyy="1.66010012345678E-07"
+        iyz="5.75600012345678E-11"
+        izz="2.51940012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/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_left/meshes/index_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0133999999772658 -0.0307783542773144 0.119355702133947"
+      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="-0.00198164078595522 -0.00405473078823561 0.019702311490585"
+        rpy="0 0 0" />
+      <mass
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+        iyy="2.80890012345678E-06"
+        iyz="1.76730012345678E-07"
+        izz="6.67240012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/index_proximal.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_left/meshes/index_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0135698026187155 0 0"
+      rpy="1.96838366112919E-05 0 0" />
+    <parent
+      link="index_metacarpals" />
+    <child
+      link="index_proximal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="0.000941450637996565 -4.16551127007132E-05 0.0136853847912016"
+        rpy="0 0 0" />
+      <mass
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+        iyy="4.32560012345678E-07"
+        iyz="3.36700012345678E-11"
+        izz="2.78970012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/index_middle.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_left/meshes/index_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00440465549536178 0 0.0397806021820034"
+      rpy="0 0 0" />
+    <parent
+      link="index_proximal" />
+    <child
+      link="index_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.48"
+      effort="0.49"
+      velocity="2.18" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.00804551982955478 -1.28660454872245E-05 0.00635812225517676"
+        rpy="0 0 0" />
+      <mass
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+        iyy="7.71500012345678E-07"
+        iyz="-2.39370012345678E-09"
+        izz="3.42900012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/index_distal.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_left/meshes/index_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="index_dip"
+    type="revolute">
+    <origin
+      xyz="0.00585141502946861 0 0.0264777914896033"
+      rpy="0 0 0" />
+    <parent
+      link="index_middle" />
+    <child
+      link="index_distal" />
+    <axis
+      xyz="0 1 0" />
+    <limit
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+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.8824"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
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+        rpy="0 0 0" />
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+        iyz="1.05810012345678E-07"
+        izz="3.88310012345678E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/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_left/meshes/thumb_metacarpals_base1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_roll"
+    type="revolute">
+    <origin
+      xyz="-0.00148 -0.022278 0.04025"
+      rpy="-1.3788 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="-0.00144112665007757 -0.000769684184294059 0.0110530085248739"
+        rpy="0 0 0" />
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+        ixx="1.49968012345678E-06"
+        ixy="-6.14310012345678E-09"
+        ixz="-2.94760012345678E-08"
+        iyy="9.44530012345678E-07"
+        iyz="-2.01790012345678E-07"
+        izz="7.10120012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/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_left/meshes/thumb_metacarpals_base2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_yaw"
+    type="revolute">
+    <origin
+      xyz="0.029071 -5.0002E-05 -0.0033014"
+      rpy="3.1416 1.0996 3.1416" />
+    <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="-0.00350697087336124 0.000126929735287147 0.0268995297209942"
+        rpy="0 0 0" />
+      <mass
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+        ixz="-1.21240012345678E-06"
+        iyy="3.77000012345678E-05"
+        iyz="-5.47200012345678E-08"
+        izz="9.55800012345678E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/thumb_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_left/meshes/thumb_metacarpals.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_cmc_pitch"
+    type="revolute">
+    <origin
+      xyz="-0.00167735705287196 -0.00686106136997823 0.0229350441674369"
+      rpy="0 -0.626758238351169 1.57079577429954" />
+    <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="0.00191123955910445 0.000410833606930864 0.0126839212066989"
+        rpy="0 0 0" />
+      <mass
+        value="0.0177" />
+      <inertia
+        ixx="1.51220012345678E-06"
+        ixy="-4.12000012345678E-09"
+        ixz="-2.74200012345678E-07"
+        iyy="2.13200012345678E-06"
+        iyz="1.69900012345678E-08"
+        izz="9.08100012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/thumb_proximal.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_left/meshes/thumb_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_mcp"
+    type="revolute">
+    <origin
+      xyz="-0.00887932880272396 0 0.0555243318218661"
+      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="0.000436367167675547 -8.12416905201542E-07 0.0100507141438788"
+        rpy="0 0 0" />
+      <mass
+        value="0.0118" />
+      <inertia
+        ixx="1.10900012345678E-06"
+        ixy="5.98700012345678E-11"
+        ixz="1.86800012345678E-07"
+        iyy="1.00060012345678E-06"
+        iyz="-2.30500012345678E-12"
+        izz="6.00300012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/thumb_distal.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_left/meshes/thumb_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="thumb_dip"
+    type="revolute">
+    <origin
+      xyz="0.0016005013041016 0 0.0347342656936431"
+      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="-0.00175008833791468 -0.0040133326361499 0.0197242238521216"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202" />
+      <inertia
+        ixx="2.71830012345678E-06"
+        ixy="-3.01880012345678E-08"
+        ixz="-1.01060012345678E-07"
+        iyy="2.98640012345678E-06"
+        iyz="1.88330012345678E-07"
+        izz="7.06740012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/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_left/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="0.00110212240211412 -2.62703534821551E-07 0.0136733775798488"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058" />
+      <inertia
+        ixx="5.25420012345678E-07"
+        ixy="-7.60700012345678E-11"
+        ixz="3.25600012345678E-08"
+        iyy="4.32560012345678E-07"
+        iyz="3.46100012345678E-11"
+        izz="2.79720012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/pinky_middle.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_left/meshes/pinky_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00393711300127611 0 0.0398295925316443"
+      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="-0.00797028965574052 2.85307043334931E-05 0.00645218774612827"
+        rpy="0 0 0" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.63620012345678E-07"
+        ixy="6.95500012345678E-10"
+        ixz="-1.84160012345678E-07"
+        iyy="7.71500012345678E-07"
+        iyz="-2.40170012345678E-09"
+        izz="3.38580012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/pinky_distal.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_left/meshes/pinky_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="pinky_dip"
+    type="revolute">
+    <origin
+      xyz="0.00616200337450113 0 0.0264072379171434"
+      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="-0.00175008833663962 -0.00401333260294955 0.0197242238538815"
+        rpy="0 0 0" />
+      <mass
+        value="0.0202" />
+      <inertia
+        ixx="2.71830012345678E-06"
+        ixy="-3.01880012345678E-08"
+        ixz="-1.01060012345678E-07"
+        iyy="2.98640012345678E-06"
+        iyz="1.88300012345678E-07"
+        izz="7.06740012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/ring_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_left/meshes/ring_proximal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_mcp_pitch"
+    type="revolute">
+    <origin
+      xyz="0.000159802646866433 0.0135180553578164 0.119716210582949"
+      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="0.00110212244873098 -2.62580957276215E-07 0.0136733774971376"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058" />
+      <inertia
+        ixx="5.25420012345678E-07"
+        ixy="-7.60700012345678E-11"
+        ixz="3.25600012345678E-08"
+        iyy="4.32560012345678E-07"
+        iyz="3.46100012345678E-11"
+        izz="2.79720012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/ring_middle.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_left/meshes/ring_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_pip"
+    type="revolute">
+    <origin
+      xyz="-0.00393711300220873 0 0.03982959253187"
+      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="-0.00797028828586554 2.85299724039761E-05 0.00645218384576389"
+        rpy="0 0 0" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.63620012345678E-07"
+        ixy="6.95500012345678E-10"
+        ixz="-1.84160012345678E-07"
+        iyy="7.71500012345678E-07"
+        iyz="-2.40170012345678E-09"
+        izz="3.38580012345678E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_left/meshes/ring_distal.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_left/meshes/ring_distal.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="ring_dip"
+    type="revolute">
+    <origin
+      xyz="0.00616200337450102 0 0.0264072379171434"
+      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/O12/linkerhand_o12_right.urdf b/O12/linkerhand_o12_right.urdf
new file mode 100644
index 0000000..a668f76
--- /dev/null
+++ b/O12/linkerhand_o12_right.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
+      lower="-0.26"
+      upper="0.26"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_proximal">
+    <inertial>
+      <origin
+        xyz="-0.00168391427597037 2.70690903636517E-06 0.0214631042896552"
+        rpy="0 0 0" />
+      <mass
+        value="0.0190" />
+      <inertia
+        ixx="3.659732339481115E-06"
+        ixy="-4.915002062422236E-10"
+        ixz="-1.120377528502504E-07"
+        iyy="3.960700754206684E-06"
+        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
+      lower="0"
+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="middle_middle">
+    <inertial>
+      <origin
+        xyz="0.000777918387942521 -5.1759160678122E-05 0.0163635089447652"
+        rpy="0 0 0" />
+      <mass
+        value="0.0063" />
+      <inertia
+        ixx="7.09169968031653E-07"
+        ixy="-5.58403474299702E-11"
+        ixz="4.26577213733945E-08"
+        iyy="6.03253064491691E-07"
+        iyz="3.37654190482447E-11"
+        izz="2.98418040318761E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://linkerhand_o12_t3_right/meshes/middle_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/middle_middle.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="middle_pip"
+    type="revolute">
+    <origin
+      xyz="-0.0040396 0 0.044837"
+      rpy="0 0 0" />
+    <parent
+      link="middle_proximal" />
+    <child
+      link="middle_middle" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      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" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.619891999E-07"
+        ixy="-6.918353974E-10"
+        ixz="-1.8662338322E-07"
+        iyy="7.718345132E-07"
+        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
+        xyz="0.00904689264775126 2.37541539324648E-06 0.00296439795566343"
+        rpy="0 0 0" />
+      <mass
+        value="0.0065" />
+      <inertia
+        ixx="2.63869833819108E-07"
+        ixy="-7.07158629020057E-11"
+        ixz="2.93807318239452E-08"
+        iyy="1.66006618432987E-07"
+        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" />
+      <mass
+        value="0.019" />
+      <inertia
+        ixx="2.70652482914717E-06"
+        ixy="-5.79266535767253E-10"
+        ixz="-1.26145363551436E-07"
+        iyy="2.99356216810202E-06"
+        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="">
+        <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_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" />
+    <limit
+      lower="0"
+      upper="1.33"
+      effort="1.54"
+      velocity="1.84" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="index_middle">
+    <inertial>
+      <origin
+        xyz="0.000941853244324609 4.23752293585711E-05 0.0136887509763614"
+        rpy="0 0 0" />
+      <mass
+        value="0.0058" />
+      <inertia
+        ixx="5.26278535682412E-07"
+        ixy="7.95248676967994E-11"
+        ixz="2.95064921407231E-08"
+        iyy="4.32332271890681E-07"
+        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" />
+      </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/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
+      lower="0"
+      upper="1.48"
+      effort="0.49"
+      velocity="2.18" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+  </joint>
+  <link
+    name="index_distal">
+    <inertial>
+      <origin
+        xyz="-0.0080474 1.295E-05 0.0063476"
+        rpy="0 0 0" />
+      <mass
+        value="0.0111" />
+      <inertia
+        ixx="7.595159811E-07"
+        ixy="-7.071503292E-10"
+        ixz="-1.8935343628E-07"
+        iyy="7.718345132E-07"
+        iyz="2.3845158565E-09"
+        izz="3.4268824569E-07" />
+    </inertial>
+    <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" />
+      </material>
+    </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" />
+    <limit
+      lower="0"
+      upper="1.31"
+      effort="1"
+      velocity="1" />
+    <dynamics
+      damping="0.075"
+      friction="0.005" />
+    <mimic
+      joint="index_pip"
+      multiplier="0.8824"
+      offset="0" />
+  </joint>
+  <link
+    name="thumb_metacarpals_base1">
+    <inertial>
+      <origin
+        xyz="0.0238985466280863 8.49428721829831E-05 0.00143586847117128"
+        rpy="0 0 0" />
+      <mass
+        value="0.032" />
+      <inertia
+        ixx="7.61971957468385E-06"
+        ixy="-8.12548431688902E-08"
+        ixz="-2.20938257589088E-07"
+        iyy="4.33238880578958E-06"
+        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" />
+      <inertia
+        ixx="1.49975159805594E-06"
+        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" />
+      <inertia
+        ixx="3.0322840108832E-05"
+        ixy="4.29374022282374E-08"
+        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/O12/middle_metacarpals.STL b/O12/middle_metacarpals.STL
new file mode 100644
index 0000000..2a6cfd1
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diff --git a/O12/pinky_proximal.STL b/O12/pinky_proximal.STL
new file mode 100644
index 0000000..babac60
Binary files /dev/null and b/O12/pinky_proximal.STL differ
diff --git a/O12/ring_middle.STL b/O12/ring_middle.STL
new file mode 100644
index 0000000..bb1411e
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