| ### Modifications to URDF | |
| The initial `dae` meshes found in | |
| the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle) | |
| were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was | |
| applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure. | |
| For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor. | |
| In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and | |
| IsaacGym. | |
| Almost all meshes have been modified to improve visual quality and collision management. |