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diff --git a/pretraining/urdf/1x6.xacro b/pretraining/urdf/1x6.xacro
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--- /dev/null
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+<?xml version="1.0"?>
+<robot name="1x6" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Import XELA Data -->
+  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world" />
+
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <xacro:sensor1x6 sequence="1" col="red" parent="base_link" />
+
+</robot>
\ No newline at end of file
diff --git a/pretraining/urdf/4x4.urdf b/pretraining/urdf/4x4.urdf
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index 0000000000000000000000000000000000000000..39c652541b760bc16b600c902aa186858f62f528
--- /dev/null
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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from 4x4.xacro                      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="4x4">
+  <!-- Rviz colors -->
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world"/>
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+  </joint>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_fixed" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="base_link"/>
+    <child link="1_4x4_base_link"/>
+  </joint>
+  <link name="1_4x4_base_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl" scale="1 1 1"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <link name="1_4x4_1_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_1_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0053666 0.018816640000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_1_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_1_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0053666 0.018816640000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_1_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_1_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_1_base2x"/>
+    <child link="1_4x4_1_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_1_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_1_x2y"/>
+    <child link="1_4x4_1_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_2_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_2_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.010033199999999999 0.018816640000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_2_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_2_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.010033199999999999 0.018816640000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_2_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_2_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_2_base2x"/>
+    <child link="1_4x4_2_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_2_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_2_x2y"/>
+    <child link="1_4x4_2_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_3_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_3_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.014699799999999999 0.018816640000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_3_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_3_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.014699799999999999 0.018816640000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_3_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_3_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_3_base2x"/>
+    <child link="1_4x4_3_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_3_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_3_x2y"/>
+    <child link="1_4x4_3_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_4_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_4_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0193664 0.018816640000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_4_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_4_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0193664 0.018816640000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_4_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_4_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_4_base2x"/>
+    <child link="1_4x4_4_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_4_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_4_x2y"/>
+    <child link="1_4x4_4_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_5_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_5_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0053666 0.014149980000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_5_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_5_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0053666 0.014149980000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_5_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_5_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_5_base2x"/>
+    <child link="1_4x4_5_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_5_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_5_x2y"/>
+    <child link="1_4x4_5_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_6_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_6_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.010033199999999999 0.014149980000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_6_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_6_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.010033199999999999 0.014149980000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_6_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_6_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_6_base2x"/>
+    <child link="1_4x4_6_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_6_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_6_x2y"/>
+    <child link="1_4x4_6_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_7_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_7_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.014699799999999999 0.014149980000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_7_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_7_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.014699799999999999 0.014149980000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_7_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_7_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_7_base2x"/>
+    <child link="1_4x4_7_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_7_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_7_x2y"/>
+    <child link="1_4x4_7_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_8_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_8_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0193664 0.014149980000000003 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_8_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_8_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0193664 0.014149980000000003 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_8_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_8_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_8_base2x"/>
+    <child link="1_4x4_8_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_8_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_8_x2y"/>
+    <child link="1_4x4_8_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_9_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_9_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0053666 0.009483320000000002 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_9_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_9_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0053666 0.009483320000000002 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_9_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_9_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_9_base2x"/>
+    <child link="1_4x4_9_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_9_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_9_x2y"/>
+    <child link="1_4x4_9_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_10_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_10_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.010033199999999999 0.009483320000000002 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_10_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_10_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.010033199999999999 0.009483320000000002 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_10_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_10_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_10_base2x"/>
+    <child link="1_4x4_10_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_10_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_10_x2y"/>
+    <child link="1_4x4_10_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_11_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_11_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.014699799999999999 0.009483320000000002 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_11_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_11_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.014699799999999999 0.009483320000000002 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_11_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_11_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_11_base2x"/>
+    <child link="1_4x4_11_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_11_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_11_x2y"/>
+    <child link="1_4x4_11_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_12_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_12_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0193664 0.009483320000000002 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_12_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_12_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0193664 0.009483320000000002 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_12_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_12_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_12_base2x"/>
+    <child link="1_4x4_12_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_12_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_12_x2y"/>
+    <child link="1_4x4_12_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_13_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_13_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0053666 0.00481666 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_13_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_13_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0053666 0.00481666 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_13_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_13_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_13_base2x"/>
+    <child link="1_4x4_13_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_13_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_13_x2y"/>
+    <child link="1_4x4_13_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_14_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_14_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.010033199999999999 0.00481666 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_14_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_14_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.010033199999999999 0.00481666 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_14_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_14_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_14_base2x"/>
+    <child link="1_4x4_14_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_14_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_14_x2y"/>
+    <child link="1_4x4_14_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_15_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_15_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.014699799999999999 0.00481666 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_15_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_15_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.014699799999999999 0.00481666 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_15_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_15_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_15_base2x"/>
+    <child link="1_4x4_15_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_15_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_15_x2y"/>
+    <child link="1_4x4_15_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+  <link name="1_4x4_16_taxel_base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_16_base2x">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0193664 0.00481666 0.004"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="1_4x4_16_x2y">
+    <visual>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.0001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="1_4x4_16_joint_x" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0193664 0.00481666 0.004"/>
+    <parent link="1_4x4_base_link"/>
+    <child link="1_4x4_16_base2x"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_16_joint_y" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_16_base2x"/>
+    <child link="1_4x4_16_x2y"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+  </joint>
+  <joint name="1_4x4_16_joint_z" type="prismatic">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="1_4x4_16_x2y"/>
+    <child link="1_4x4_16_taxel_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="100.0" lower="-0.001" upper="0.000" velocity="0.5"/>
+  </joint>
+</robot>
+
diff --git a/pretraining/urdf/4x4.xacro b/pretraining/urdf/4x4.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..cacd2f7f4b7fc6c790f77232089ebe9866bf865f
--- /dev/null
+++ b/pretraining/urdf/4x4.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="4x4" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Import XELA Data -->
+  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world" />
+
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <xacro:sensor4x4 sequence="1" col="red" parent="base_link" />
+
+</robot>
\ No newline at end of file
diff --git a/pretraining/urdf/4x6.xacro b/pretraining/urdf/4x6.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e5cf2d35bdb6b77e399bcae9cc89feeaeb22d674
--- /dev/null
+++ b/pretraining/urdf/4x6.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="4x6" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Import XELA Data -->
+  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world" />
+
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <xacro:sensor4x6 sequence="1" col="red" parent="base_link" />
+
+</robot>
\ No newline at end of file
diff --git a/pretraining/urdf/aftc.xacro b/pretraining/urdf/aftc.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..ce392f8620a745ca343a65e4c61b39eef1769567
--- /dev/null
+++ b/pretraining/urdf/aftc.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="allegro_fingertip_curved" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Import XELA Data -->
+  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world" />
+
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <xacro:sensoraftc sequence="1" col="red" parent="base_link" />
+
+</robot>
diff --git a/pretraining/urdf/aftf.xacro b/pretraining/urdf/aftf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..462af5afc85e37a5f4d84d00b84c69bf025b4853
--- /dev/null
+++ b/pretraining/urdf/aftf.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="allegro_fingertip_flat" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <!-- Import XELA Data -->
+  <xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+  <!-- Used for fixing robot to Gazebo 'base_link' -->
+  <link name="world" />
+
+  <!-- Base Link -->
+  <joint name="fixed" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+  </joint>
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <xacro:sensoraftf sequence="1" col="red" parent="base_link" />
+
+</robot>
diff --git a/pretraining/urdf/ahrcpcpn.urdf b/pretraining/urdf/ahrcpcpn.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a64c12b815b07d3b0c58aacd362f1cb14fab1e6c
--- /dev/null
+++ b/pretraining/urdf/ahrcpcpn.urdf
@@ -0,0 +1,1007 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from allegro_hand_right.xacro       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_right">
+  <!-- Rviz colors -->
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 0.8"/>
+    <!-- Slight transparency to make more visible -->
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.6470588235294118 0.16470588235294117 0.16470588235294117 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <link name="world"/>
+  <link name="palm_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/base.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0 "/>
+      <material name="cyan">
+        <color rgba="0.0 1.0 1.0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+      <geometry>
+        <box size="0.0408 0.1130 0.095"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.4288"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.04e-03" ixy="8.58e-06" ixz="8.58e-06" iyy="1.23e-03" iyz="0.0" izz="1.25e-03"/>
+    </inertial>
+  </link>
+  <joint name="ahr_fixed" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="world"/>
+    <child link="palm_link"/>
+  </joint>
+  <joint name="ahr_palm_1_4x6_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="0.013 -0.051 -0.0365"/>
+    <parent link="palm_link"/>
+    <child link="ahr_palm_1_4x6_palm_link"/>
+  </joint>
+  <link name="ahr_palm_1_4x6_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+  </link>
+  <joint name="ahr_palm_2_4x6_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 3.141592653589793 1.5707963267948966" xyz="0.013 0.0523 -0.005"/>
+    <parent link="palm_link"/>
+    <child link="ahr_palm_2_4x6_palm_link"/>
+  </joint>
+  <link name="ahr_palm_2_4x6_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+  </link>
+  <joint name="ahr_palm_3_4x6_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="0.013 -0.051 -0.068"/>
+    <parent link="palm_link"/>
+    <child link="ahr_palm_3_4x6_palm_link"/>
+  </joint>
+  <link name="ahr_palm_3_4x6_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x6.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+  </link>
+  <link name="link_0">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_0.0_ext.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.011200000000000002"/>
+    </collision>
+    <inertial>
+      <mass value="0.0127"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07"/>
+    </inertial>
+  </link>
+  <joint name="joint_0" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+    <parent link="palm_link"/>
+    <child link="link_0"/>
+    <origin rpy="-0.08726646259971647 0 0" xyz="0 0.0435 -0.001542"/>
+  </joint>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0809"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.75e-05" ixy="0.0" ixz="5.66e-08" iyy="1.80e-05" iyz="0.0" izz="4.60e-06"/>
+    </inertial>
+  </link>
+  <!--covers are always with sensors-->
+  <link name="link_1_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <!--As link is fixed, inertias will be inside the main link-->
+  </link>
+  <joint name="link_1_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_1"/>
+    <child link="link_1_cover"/>
+  </joint>
+  <joint name="link_1A_4x4_fixed" type="fixed">
+    <origin rpy="0.0 -1.5707963267948966 3.141592653589793" xyz="0.0108 0.012 0.033"/>
+    <parent link="link_1"/>
+    <child link="link_1A_4x4_palm_link"/>
+  </joint>
+  <link name="link_1A_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="link_1B_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0108 -0.012 0.021"/>
+    <parent link="link_1"/>
+    <child link="link_1B_4x4_palm_link"/>
+  </joint>
+  <link name="link_1B_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <limit effort="15" lower="-0.19599999999999998" upper="1.6099999999999999" velocity="7"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.0189"/>
+    <!-- New height on fingers -->
+  </joint>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <!--covers are always with sensors-->
+    <inertial>
+      <mass value="0.0447"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.80e-07" ixy="0.0" ixz="7.15e-09" iyy="2.26e-07" iyz="1.34e-09" izz="1.86e-07"/>
+    </inertial>
+  </link>
+  <link name="link_2_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="link_2_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_2"/>
+    <child link="link_2_cover"/>
+  </joint>
+  <joint name="link_2_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.01 -0.012 0.0445"/>
+    <parent link="link_2"/>
+    <child link="link_2_4x4_palm_link"/>
+  </joint>
+  <link name="link_2_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.17400000000000002" upper="1.7089999999999999" velocity="7"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_3">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.026399999999999996"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.013199999999999998"/>
+    </collision>
+    <inertial>
+      <mass value="0.0404"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.64e-06" ixy="0.0" ixz="0.0" iyy="3.33e-06" iyz="0.0" izz="1.92e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.227" upper="1.6179999999999999" velocity="7"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0 0.0 0.0384"/>
+  </joint>
+  <joint name="0aftc_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="-0.013 0.0 0.016"/>
+    <parent link="link_3"/>
+    <child link="0aftc_palm_link"/>
+  </joint>
+  <link name="0aftc_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+  </link>
+  <link name="link_4">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_0.0_ext.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.011200000000000002"/>
+    </collision>
+    <inertial>
+      <mass value="0.0127"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07"/>
+    </inertial>
+  </link>
+  <joint name="joint_4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+    <parent link="palm_link"/>
+    <child link="link_4"/>
+    <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+  </joint>
+  <link name="link_5">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0809"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.75e-05" ixy="0.0" ixz="5.66e-08" iyy="1.80e-05" iyz="0.0" izz="4.60e-06"/>
+    </inertial>
+  </link>
+  <!--covers are always with sensors-->
+  <link name="link_5_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <!--As link is fixed, inertias will be inside the main link-->
+  </link>
+  <joint name="link_5_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_5"/>
+    <child link="link_5_cover"/>
+  </joint>
+  <joint name="link_5A_4x4_fixed" type="fixed">
+    <origin rpy="0.0 -1.5707963267948966 3.141592653589793" xyz="0.0108 0.012 0.033"/>
+    <parent link="link_5"/>
+    <child link="link_5A_4x4_palm_link"/>
+  </joint>
+  <link name="link_5A_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="link_5B_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0108 -0.012 0.021"/>
+    <parent link="link_5"/>
+    <child link="link_5B_4x4_palm_link"/>
+  </joint>
+  <link name="link_5B_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <limit effort="15" lower="-0.19599999999999998" upper="1.6099999999999999" velocity="7"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0 0 0.0189"/>
+    <!-- New height on fingers -->
+  </joint>
+  <link name="link_6">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <!--covers are always with sensors-->
+    <inertial>
+      <mass value="0.0447"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.80e-07" ixy="0.0" ixz="7.15e-09" iyy="2.26e-07" iyz="1.34e-09" izz="1.86e-07"/>
+    </inertial>
+  </link>
+  <link name="link_6_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="link_6_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_6"/>
+    <child link="link_6_cover"/>
+  </joint>
+  <joint name="link_6_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.01 -0.012 0.0445"/>
+    <parent link="link_6"/>
+    <child link="link_6_4x4_palm_link"/>
+  </joint>
+  <link name="link_6_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_6" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.17400000000000002" upper="1.7089999999999999" velocity="7"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_7">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.026399999999999996"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.013199999999999998"/>
+    </collision>
+    <inertial>
+      <mass value="0.0404"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.64e-06" ixy="0.0" ixz="0.0" iyy="3.33e-06" iyz="0.0" izz="1.92e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_7" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.227" upper="1.6179999999999999" velocity="7"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <origin xyz="0 0.0 0.0384"/>
+  </joint>
+  <joint name="1aftc_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="-0.013 0.0 0.016"/>
+    <parent link="link_7"/>
+    <child link="1aftc_palm_link"/>
+  </joint>
+  <link name="1aftc_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+  </link>
+  <link name="link_8">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_0.0_ext.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.011200000000000002"/>
+    </collision>
+    <inertial>
+      <mass value="0.0127"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07"/>
+    </inertial>
+  </link>
+  <joint name="joint_8" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+    <parent link="palm_link"/>
+    <child link="link_8"/>
+    <origin rpy="0.08726646259971647 0 0" xyz="0 -0.0435 -0.001542"/>
+  </joint>
+  <link name="link_9">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0164"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+    </collision>
+    <inertial>
+      <mass value="0.0809"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.75e-05" ixy="0.0" ixz="5.66e-08" iyy="1.80e-05" iyz="0.0" izz="4.60e-06"/>
+    </inertial>
+  </link>
+  <!--covers are always with sensors-->
+  <link name="link_9_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <!--As link is fixed, inertias will be inside the main link-->
+  </link>
+  <joint name="link_9_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_9"/>
+    <child link="link_9_cover"/>
+  </joint>
+  <joint name="link_9A_4x4_fixed" type="fixed">
+    <origin rpy="0.0 -1.5707963267948966 3.141592653589793" xyz="0.0108 0.012 0.033"/>
+    <parent link="link_9"/>
+    <child link="link_9A_4x4_palm_link"/>
+  </joint>
+  <link name="link_9A_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="link_9B_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0108 -0.012 0.021"/>
+    <parent link="link_9"/>
+    <child link="link_9B_4x4_palm_link"/>
+  </joint>
+  <link name="link_9B_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_9" type="revolute">
+    <limit effort="15" lower="-0.19599999999999998" upper="1.6099999999999999" velocity="7"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_8"/>
+    <child link="link_9"/>
+    <origin xyz="0 0 0.0189"/>
+    <!-- New height on fingers -->
+  </joint>
+  <link name="link_10">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.054"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.027"/>
+    </collision>
+    <!--covers are always with sensors-->
+    <inertial>
+      <mass value="0.0447"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.80e-07" ixy="0.0" ixz="7.15e-09" iyy="2.26e-07" iyz="1.34e-09" izz="1.86e-07"/>
+    </inertial>
+  </link>
+  <link name="link_10_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+  </link>
+  <joint name="link_10_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_10"/>
+    <child link="link_10_cover"/>
+  </joint>
+  <joint name="link_10_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.01 -0.012 0.0445"/>
+    <parent link="link_10"/>
+    <child link="link_10_4x4_palm_link"/>
+  </joint>
+  <link name="link_10_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_10" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.17400000000000002" upper="1.7089999999999999" velocity="7"/>
+    <parent link="link_9"/>
+    <child link="link_10"/>
+    <origin xyz="0 0 0.054"/>
+  </joint>
+  <link name="link_11">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_3.0.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.026399999999999996"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.013199999999999998"/>
+    </collision>
+    <inertial>
+      <mass value="0.0404"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.64e-06" ixy="0.0" ixz="0.0" iyy="3.33e-06" iyz="0.0" izz="1.92e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_11" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.227" upper="1.6179999999999999" velocity="7"/>
+    <parent link="link_10"/>
+    <child link="link_11"/>
+    <origin xyz="0 0.0 0.0384"/>
+  </joint>
+  <joint name="2aftc_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="-0.013 0.0 0.016"/>
+    <parent link="link_11"/>
+    <child link="2aftc_palm_link"/>
+  </joint>
+  <link name="2aftc_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+  </link>
+  <link name="link_12">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_12.0_right.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0358 0.034 0.0455"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
+    </collision>
+    <inertial>
+      <mass value="0.0176"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.36e-06" ixy="0.0" ixz="1.76e-08" iyy="3.84e-06" iyz="2.46e-07" izz="2.59e-06"/>
+    </inertial>
+  </link>
+  <joint name="joint_12" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort="15" lower="0.263" upper="1.396" velocity="7"/>
+    <parent link="palm_link"/>
+    <child link="link_12"/>
+    <origin rpy="0 -1.6580627893946132 -1.5707963267948966" xyz="-0.0182 0.019333 -0.046487"/>
+  </joint>
+  <link name="link_13">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/link_0.0_ext.STL"/>
+        <!-- link_13.0.STL -->
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0177"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+    </collision>
+    <inertial>
+      <mass value="0.0127"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07"/>
+    </inertial>
+  </link>
+  <link name="link_14_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_1_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_1_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="link_14_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_14"/>
+    <child link="link_14_cover"/>
+  </joint>
+  <joint name="joint_13" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="15" lower="-0.10499999999999998" upper="1.1629999999999998" velocity="7"/>
+    <parent link="link_12"/>
+    <child link="link_13"/>
+    <origin xyz="-0.027 0.005 0.0399"/>
+  </joint>
+  <link name="link_14">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_1.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.0514"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+    </collision>
+    <!--covers are always with sensors-->
+    <inertial>
+      <mass value="0.0457"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="3.20e-06" ixy="9.14e-09" ixz="1.46e-07" iyy="3.03e-06" iyz="0.0" izz="1.47e-06"/>
+    </inertial>
+  </link>
+  <link name="link_15_cover">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_2_cover.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_2_cover.stl"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+  <joint name="link_15_cover_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <parent link="link_15"/>
+    <child link="link_15_cover"/>
+  </joint>
+  <joint name="link_14_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.011 -0.012 0.023"/>
+    <parent link="link_14"/>
+    <child link="link_14_4x4_palm_link"/>
+  </joint>
+  <link name="link_14_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_14" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.18899999999999997" upper="1.644" velocity="7"/>
+    <parent link="link_13"/>
+    <child link="link_14"/>
+    <origin rpy="0 -0.017453292519943295 0" xyz="0 0 0.019700000000000002"/>
+  </joint>
+  <link name="link_15">
+    <visual>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/allegro/thumb_2.0.stl"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.0196 0.0275 0.042300000000000004"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.021150000000000002"/>
+    </collision>
+    <inertial>
+      <mass value="0.0753"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="2.90e-05" ixy="0.0" ixz="0.0" iyy="2.90e-05" iyz="0.0" izz="6.88e-06"/>
+    </inertial>
+  </link>
+  <joint name="link_15_4x4_fixed" type="fixed">
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.011 -0.012 0.021"/>
+    <parent link="link_15"/>
+    <child link="link_15_4x4_palm_link"/>
+  </joint>
+  <link name="link_15_4x4_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/4x4.stl"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="joint_15" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-0.162" upper="1.7189999999999999" velocity="7"/>
+    <parent link="link_14"/>
+    <child link="link_15"/>
+    <origin xyz="0 0 0.0514"/>
+    <!--allegro link size difference-0.004-->
+  </joint>
+  <joint name="3aftc_fixed" type="fixed">
+    <origin rpy="1.5707963267948966 0.0 1.5707963267948966" xyz="-0.013 0.0 0.0315"/>
+    <parent link="link_15"/>
+    <child link="3aftc_palm_link"/>
+  </joint>
+  <link name="3aftc_palm_link">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+  </link>
+  <!-- Enable the following 2 if you would like to see different options the same time -->
+  <!-- <xacro:allegro_hand_right sequence="2" parent="world" x="0.2" tips="curved" /> -->
+  <!-- <xacro:allegro_hand_right sequence="3" parent="world" x="-0.2" covers="0" palm="0" phalanges="0" tips="default"/> -->
+</robot>
diff --git a/pretraining/urdf/allegro_hand_right.xacro b/pretraining/urdf/allegro_hand_right.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..5fe2f2ac42065fe56d492405a21ac122c7230ee4
--- /dev/null
+++ b/pretraining/urdf/allegro_hand_right.xacro
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right">
+
+<!-- Import XELA Data -->
+<xacro:include filename="$(find xela_models)/urdf/xela.xacro" />
+
+<link name="world" />
+  
+<!-- Notes
+Back controller covers can be disabled by setting covers to 0
+tips can be either "flat" or "curved", default is original tip
+Palm sensors can be disabled by setting palm to 0
+-->
+	<xacro:allegro_hand_right sequence="" tips="curved" parent="world" defaultnames="1" baseispalm="1" />
+  <!-- Enable the following 2 if you would like to see different options the same time -->
+	<!-- <xacro:allegro_hand_right sequence="2" parent="world" x="0.2" tips="curved" /> -->
+	<!-- <xacro:allegro_hand_right sequence="3" parent="world" x="-0.2" covers="0" palm="0" phalanges="0" tips="default"/> -->
+    
+</robot>
+
diff --git a/pretraining/urdf/taxel.xacro b/pretraining/urdf/taxel.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f38d693633c1d0271f3c137778b70f710bd960d5
--- /dev/null
+++ b/pretraining/urdf/taxel.xacro
@@ -0,0 +1,81 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="xela_taxel">
+
+  <!-- Import Rviz colors -->
+  <xacro:include filename="$(find xela_models)/urdf/materials.xacro" />
+  <xacro:macro name="taxel" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' zmod:=0.0">
+    <link name="${sequence}_base_link">
+      <visual>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${sequence}_base2x">
+      <visual>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry> 
+        <origin xyz="${x} ${y} ${z}" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual> 
+      <collision>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${sequence}_x2y">
+      <visual>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry> 
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual> 
+      <collision>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${sequence}_joint_x" type="prismatic">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}"/>
+      <child link="${sequence}_base2x"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+    </joint>
+    <joint name="${sequence}_joint_y" type="prismatic">
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <parent link="${sequence}_base2x"/>
+      <child link="${sequence}_x2y"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+    </joint>
+    <joint name="${sequence}_joint_z" type="prismatic">
+      <origin xyz="0.0 0.0 ${zmod}" rpy="0.0 0.0 0.0"/>
+      <parent link="${sequence}_x2y"/>
+      <child link="${sequence}_base_link"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="100.0" lower="${-0.001-zmod}" upper="0.000" velocity="0.5"/>
+    </joint>
+  </xacro:macro>
+
+
+  <xacro:macro name="taxeltest" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0">
+    <xacro:taxel sequence="${sequence}A"  x="${x}" y="${y}" z="${z}" rx="${rx}" ry="${ry}" rz="${rz}" parent="${parent}" />
+    <xacro:taxel sequence="${sequence}B"  x="${x}" y="${y}" z="${z}" rx="${rx}" ry="${ry}" rz="${rz}" parent="${parent}" col="red" zmod="-0.001" />
+  </xacro:macro>
+
+</robot>
diff --git a/pretraining/urdf/xela.xacro b/pretraining/urdf/xela.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..53aa912d063aa17545b870463efe37d77f7f7da7
--- /dev/null
+++ b/pretraining/urdf/xela.xacro
@@ -0,0 +1,1081 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="xela">
+
+  <!-- Rviz colors -->
+  <material name="black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+
+  <material name="orange">
+    <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+  </material>
+
+  <material name="brown">
+    <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+  </material>
+
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <!-- Taxels -->
+  <xacro:macro name="taxel" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' zmod:=0.0">
+    <link name="${sequence}_taxel_base_link">
+      <visual>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${sequence}_base2x">
+      <visual>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry> 
+        <origin xyz="${x} ${y} ${z}" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual> 
+      <collision>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${sequence}_x2y">
+      <visual>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry> 
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="${col}"/>
+      </visual> 
+      <collision>
+        <geometry>
+          <sphere radius="0.0001"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${sequence}_joint_x" type="prismatic">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}"/>
+      <child link="${sequence}_base2x"/>
+      <axis xyz="1 0 0"/>
+      <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+    </joint>
+    <joint name="${sequence}_joint_y" type="prismatic">
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+      <parent link="${sequence}_base2x"/>
+      <child link="${sequence}_x2y"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="100.0" lower="-0.0015" upper="0.0015" velocity="0.5"/>
+    </joint>
+    <joint name="${sequence}_joint_z" type="prismatic">
+      <origin xyz="0.0 0.0 ${zmod}" rpy="0.0 0.0 0.0"/>
+      <parent link="${sequence}_x2y"/>
+      <child link="${sequence}_taxel_base_link"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="100.0" lower="${-0.001-zmod}" upper="0.000" velocity="0.5"/>
+    </joint>
+  </xacro:macro>
+
+  <!-- Test taxel (shows both max and min Z position). Useful for new sensor development -->
+  <xacro:macro name="taxeltest" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0">
+    <xacro:taxel sequence="${sequence}A"  x="${x}" y="${y}" z="${z}" rx="${rx}" ry="${ry}" rz="${rz}" parent="${parent}" />
+    <xacro:taxel sequence="${sequence}B"  x="${x}" y="${y}" z="${z}" rx="${rx}" ry="${ry}" rz="${rz}" parent="${parent}" col="red" zmod="-0.001" />
+  </xacro:macro>
+
+  <!-- Sensors -->
+  <xacro:macro name="sensoraftf" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' taxels:=0 skipinertia:=0">
+    <joint name="${sequence}_aftf_fixed" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_aftf_base_link" />
+    </joint>
+    <link name="${sequence}_aftf_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/ft_f.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/ft_f.stl"/>
+        </geometry>
+        <material name="${col}"/>
+      </visual>
+      <xacro:if value="${skipinertia == 0}">
+        <inertial>
+          <mass value="0.0142" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="3.45e-07" ixy="0.0" ixz="0.0" iyy="3.32e-07" iyz="1.14e-08" izz="3.88e-07" />
+        </inertial>
+      </xacro:if>
+      
+    </link>
+
+    <link name="${sequence}_aftf_sensorbase_base_link">
+      <visual>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="black" />
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="0.001"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${sequence}_aftf_sensorbase_pos_link">
+      <visual>
+        <geometry>
+          <sphere radius="0.00001"/>
+        </geometry>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+        <material name="black" />
+      </visual>
+      <collision>
+        <geometry>
+          <sphere radius="0.00001"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${sequence}_aftf_sensor_pos_joint" type="prismatic">
+      <origin xyz="0.0 0.0140 0.0010" rpy="${radians(-25)} 0.0 0.0"/>
+      <parent link="${sequence}_aftf_base_link"/>
+      <child link="${sequence}_aftf_sensorbase_pos_link"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="100.0" lower="0.000" upper="0.000" velocity="0.5"/>
+    </joint>
+    <joint name="${sequence}_aftf_sensor_joint" type="prismatic">
+      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 ${radians(-90)}"/>
+      <parent link="${sequence}_aftf_sensorbase_pos_link"/>
+      <child link="${sequence}_aftf_sensorbase_base_link"/>
+      <axis xyz="0 0 1"/>
+      <limit effort="100.0" lower="0.000" upper="0.000" velocity="0.5"/>
+    </joint>
+    <xacro:if value="${taxels==1}">
+      <xacro:sensor4x4 sequence="${sequence}_aftf" x="-0.0111665" y="-0.0116665" parent="${sequence}_aftf_sensorbase_base_link" body="0" />
+    </xacro:if>
+  </xacro:macro>
+
+  <xacro:macro name="sensoraftc" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' taxels:=1 skipinertia:=0">
+    <joint name="${sequence}_aftc_fixed" type="fixed">
+      <origin xyz="${x-0.013} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_aftc_base_link" />
+    </joint>
+    <link name="${sequence}_aftc_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/ft_c.stl"/>
+        </geometry>
+        <material name="${col}"/>
+      </visual>
+      <xacro:if value="${skipinertia == 0}">
+        <inertial>
+          <mass value="0.0266" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="1.66e-06" ixy="0.0" ixz="0.0" iyy="1.23e-06" iyz="0.0" izz="1.70e-06" />
+        </inertial>
+      </xacro:if>
+    </link>
+    <xacro:if value="${taxels == 1}">
+      <xacro:taxel sequence="${sequence}_aftc_1"  x="0.0101" y="0.0306" z="0.01254" ry="90" rz="30" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_2"  x="0.0126" y="0.0236" z="0.01254" ry="90" rz="10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_3"  x="0.0138" y="0.0173" z="0.01254" ry="90" rz="10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_4"  x="0.0143" y="0.0103" z="0.01254" ry="90" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_5"  x="0.0143" y="0.0038" z="0.01254" ry="90" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_6"  x="0.0098" y="0.0230" z="0.02000" ry="50" rz="10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_7"  x="0.0110" y="0.0167" z="0.02000" ry="50" rz="10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_8"  x="0.0115" y="0.0103" z="0.02000" ry="50" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_9"  x="0.0115" y="0.0038" z="0.02000" ry="50" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_10" x="0.0037" y="0.0338" z="0.01730" ry="29" rx="-48" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_11" x="0.0039" y="0.0296" z="0.02155" ry="26" rx="-31" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_12" x="0.0039" y="0.0230" z="0.02444" ry="22" rx="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_13" x="0.0039" y="0.0169" z="0.02544" ry="21" rx="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_14" x="0.0039" y="0.0103" z="0.02574" ry="18" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_15" x="0.0039" y="0.0038" z="0.02574" ry="18" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_16" x="-0.0037" y="0.0338" z="0.01730" ry="-29" rx="-48" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_17" x="-0.0039" y="0.0296" z="0.02155" ry="-26" rx="-31" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_18" x="-0.0039" y="0.0230" z="0.02444" ry="-22" rx="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_19" x="-0.0039" y="0.0169" z="0.02544" ry="-21" rx="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_20" x="-0.0039" y="0.0103" z="0.02574" ry="-18" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_21" x="-0.0039" y="0.0038" z="0.02574" ry="-18" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_22" x="-0.0098" y="0.0230" z="0.02000" ry="-50" rz="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_23" x="-0.0110" y="0.0167" z="0.02000" ry="-50" rz="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_24" x="-0.0115" y="0.0103" z="0.02000" ry="-50" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_25" x="-0.0115" y="0.0038" z="0.02000" ry="-50" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_26" x="-0.0101" y="0.0306" z="0.01254" ry="-90" rz="-30" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_27" x="-0.0126" y="0.0236" z="0.01254" ry="-90" rz="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_28" x="-0.0138" y="0.0173" z="0.01254" ry="-90" rz="-10" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_29" x="-0.0143" y="0.0103" z="0.01254" ry="-90" parent="${sequence}_aftc_base_link" />
+      <xacro:taxel sequence="${sequence}_aftc_30" x="-0.0143" y="0.0038" z="0.01254" ry="-90" parent="${sequence}_aftc_base_link" />
+    </xacro:if>
+  </xacro:macro>
+   <xacro:macro name="aftd" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' skipinertia:=0">
+    <joint name="${sequence}_aftd_fixed" type="fixed">
+      <origin xyz="${x-0.013} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_aftd_base_link" />
+    </joint>
+    <link name="${sequence}_aftd_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/allegro/ahft_default.STL"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/allegro/ahft_default.STL"/>
+        </geometry>
+        <material name="${col}"/>
+      </visual>
+      <xacro:if value="${skipinertia == 0}">
+        <inertial>
+          <mass value="0.0168" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="1.63e-07" ixy="0.0" ixz="0.0" iyy="1.63e-07" iyz="0.0" izz="1.60e-07" />
+        </inertial>
+      </xacro:if>
+    </link>
+  </xacro:macro>
+  <xacro:macro name="sensor4x4" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' body:=1 taxels:=1 skipinertia:=0">
+    <joint name="${sequence}_4x4_fixed" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_4x4_base_link" />
+    </joint>
+    <link name="${sequence}_4x4_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/4x4.stl"/>
+        </geometry>
+      </collision>
+      <xacro:if value="${body == 1}">
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://xela_models/mesh/4x4.stl"/>
+          </geometry>
+          <material name="${col}"/>
+        </visual>
+        <xacro:unless value="${skipinertia == 1}">
+          <inertial>
+            <mass value="0.0036" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="5.76e-09" ixy="0.0" ixz="0.0" iyy="6.55e-09" iyz="1.44e-10" izz="1.20e-08" />
+          </inertial>
+        </xacro:unless>
+      </xacro:if>
+    </link>
+    <xacro:if value="${taxels == 1}">
+      <xacro:taxel sequence="${sequence}_4x4_1"  x="${1*0.0046666+0.0007}" y="${4*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_2"  x="${2*0.0046666+0.0007}" y="${4*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_3"  x="${3*0.0046666+0.0007}" y="${4*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_4"  x="${4*0.0046666+0.0007}" y="${4*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_5"  x="${1*0.0046666+0.0007}" y="${3*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_6"  x="${2*0.0046666+0.0007}" y="${3*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_7"  x="${3*0.0046666+0.0007}" y="${3*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_8"  x="${4*0.0046666+0.0007}" y="${3*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_9"  x="${1*0.0046666+0.0007}" y="${2*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_10" x="${2*0.0046666+0.0007}" y="${2*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_11" x="${3*0.0046666+0.0007}" y="${2*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_12" x="${4*0.0046666+0.0007}" y="${2*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_13" x="${1*0.0046666+0.0007}" y="${1*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_14" x="${2*0.0046666+0.0007}" y="${1*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_15" x="${3*0.0046666+0.0007}" y="${1*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+      <xacro:taxel sequence="${sequence}_4x4_16" x="${4*0.0046666+0.0007}" y="${1*0.00466666+0.00015}" z="0.004" parent="${sequence}_4x4_base_link" />
+    </xacro:if>
+  </xacro:macro>
+  <xacro:macro name="sensor1x6" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' body:=1 taxels:=1 skipinertia:=0">
+    <joint name="${sequence}_1x6_fixed" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_1x6_base_link" />
+    </joint>
+    <link name="${sequence}_1x6_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/1x6.stl"/>
+        </geometry>
+      </collision>
+      <xacro:if value="${body == 1}">
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://xela_models/mesh/1x6.stl"/>
+          </geometry>
+          <material name="${col}"/>
+        </visual>
+        <xacro:unless value="${skipinertia == 1}">
+          <inertial>
+            <mass value="0.0018" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="9.47e-10" ixy="0.0" ixz="0.0" iyy="4.68e-11" iyz="0.0" izz="9.50e-10" />
+          </inertial>
+        </xacro:unless>
+      </xacro:if>
+    </link>
+    <xacro:if value="${taxels == 1}">
+      <xacro:taxel sequence="${sequence}_1x6_1" x="${1*0.0046666-0.0023}" y="${6*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+      <xacro:taxel sequence="${sequence}_1x6_2" x="${1*0.0046666-0.0023}" y="${5*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+      <xacro:taxel sequence="${sequence}_1x6_3" x="${1*0.0046666-0.0023}" y="${4*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+      <xacro:taxel sequence="${sequence}_1x6_4" x="${1*0.0046666-0.0023}" y="${3*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+      <xacro:taxel sequence="${sequence}_1x6_5" x="${1*0.0046666-0.0023}" y="${2*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+      <xacro:taxel sequence="${sequence}_1x6_6" x="${1*0.0046666-0.0023}" y="${1*0.00466666-0.0023}" z="0.005" parent="${sequence}_1x6_base_link" />
+    </xacro:if>
+  </xacro:macro>
+  <xacro:macro name="sensor4x6" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 col:='blue' body:=1 taxels:=1 skipinertia:=0">
+    <joint name="${sequence}_4x6_fixed" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+      <parent link="${parent}" />
+      <child link="${sequence}_4x6_base_link" />
+    </joint>
+    <link name="${sequence}_4x6_base_link">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://xela_models/mesh/4x6.stl"/>
+        </geometry>
+      </collision>
+      <xacro:if value="${body == 1}">
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://xela_models/mesh/4x6.stl"/>
+          </geometry>
+          <material name="${col}"/>
+        </visual>
+        <xacro:unless value="${skipinertia == 1}">
+          <inertial>
+            <mass value="0.0108" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1.11e-07" ixy="0.0" ixz="0.0" iyy="2.97e-07" iyz="0.0" izz="4.03e-07" />
+          </inertial>
+        </xacro:unless>
+      </xacro:if>
+    </link>
+    <xacro:if value="${taxels == 1}">
+      <xacro:taxel sequence="${sequence}_4x6_1"  x="${1*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_2"  x="${2*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_3"  x="${3*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_4"  x="${4*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_5"  x="${5*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_6"  x="${6*0.00724+0.0030}" y="${4*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_7"  x="${1*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_8"  x="${2*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_9"  x="${3*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_10" x="${4*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_11" x="${5*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_12" x="${6*0.00724+0.0030}" y="${3*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_13" x="${1*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_14" x="${2*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_15" x="${3*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_16" x="${4*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_17" x="${5*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_18" x="${6*0.00724+0.0030}" y="${2*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_19" x="${1*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_20" x="${2*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_21" x="${3*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_22" x="${4*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_23" x="${5*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+      <xacro:taxel sequence="${sequence}_4x6_24" x="${6*0.00724+0.0030}" y="${1*0.00717-0.002175}" z="0.005" parent="${sequence}_4x6_base_link" />
+    </xacro:if>
+  </xacro:macro>
+
+  <!-- Allegro Hands -->
+  <xacro:macro name="allegro_hand_right" params="sequence parent x:=0.0 y:=0.0 z:=0.0 rx:=0.0 ry:=0.0 rz:=0.0 covers:=1 phalanges:=1 tips:='flat' palm:=1 taxels:=0 defaultnames:=0">
+    <xacro:if value="${sequence == ''}">
+      <xacro:property name="seq" value=""/>
+    </xacro:if>
+    <xacro:unless value="${sequence == ''}">
+      <xacro:property name="seq" value="${sequence}_"/>
+    </xacro:unless>
+    <link name="${seq}base_link">
+      <visual>
+        <geometry>
+          <xacro:if value="${palm == 1}">
+            <mesh filename="package://xela_models/mesh/allegro/base.stl" />
+          </xacro:if>
+          <xacro:if value="${palm != 1}">
+            <mesh filename="package://xela_models/mesh/allegro/base_ns.stl"/>   
+          </xacro:if>
+        </geometry>
+        <origin rpy="0 0 0" xyz="0 0 0 "/>
+        <material name="cyan">
+          <color rgba="0.0 1.0 1.0 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="-0.009300 0 -${0.095/2}"/>
+        <geometry>
+          <box size="0.0408 0.1130 ${0.095}"/>
+        </geometry>
+      </collision>
+      <xacro:if value="${palm == 1}">
+        <inertial>
+          <mass value="0.4288" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="2.04e-03" ixy="8.58e-06" ixz="8.58e-06" iyy="1.23e-03" iyz="0.0" izz="1.25e-03" />
+        </inertial>
+      </xacro:if>
+      <xacro:if value="${palm != 1}">
+        <inertial>
+          <mass value="0.4154" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="1.87e-03" ixy="0.0" ixz="8.31e-06" iyy="1.13e-03" iyz="0.0" izz="1.11e-03" />
+        </inertial>
+      </xacro:if>
+    </link>
+    <joint name="${seq}ahr_fixed" type="fixed">
+        <origin xyz="${x} ${y} ${z}" rpy="${radians(rx)} ${radians(ry)} ${radians(rz)}"/>
+        <parent link="${parent}" />
+        <child link="${seq}base_link" />
+      </joint>
+    <xacro:if value="${palm == 1}">
+      <xacro:sensor4x6 sequence="${seq}ahr_palm_1" col="red" parent="${seq}base_link" x="0.013" y="-0.051" z="-0.0365"  rz="90" rx="90" ry="0.0" taxels="${taxels}" skipinertia="1" />
+      <xacro:sensor4x6 sequence="${seq}ahr_palm_2" col="green" parent="${seq}base_link" x="0.013" y="0.0523" z="-0.005"  rz="90" rx="90" ry="180.0" taxels="${taxels}" skipinertia="1" />
+      <xacro:sensor4x6 sequence="${seq}ahr_palm_3" col="blue" parent="${seq}base_link" x="0.013" y="-0.051" z="-0.068" rz="90" rx="90" ry="0.0" taxels="${taxels}" skipinertia="1" />
+    </xacro:if>
+    <xacro:if value="${defaultnames == 1}">
+    <xacro:finger 
+      sequence=			    "${seq}"
+      parent=				    "${seq}base_link"
+      finger_num=			  "0"
+      offset_origin_x=	"${0}"	
+      offset_origin_y=	"${0.0435}"
+      offset_origin_z=	"${-0.001542}"
+      finger_angle_r=		"-${radians(5.0)}"
+      covers=				    "${covers}"
+      phalanges=				"${phalanges}"
+      tip=				      "${tips}"
+      taxels=           "${taxels}"
+    />
+    <xacro:finger
+      sequence=			    "${seq}"
+      parent=				    "${seq}base_link"
+      finger_num=			  "1" 
+      offset_origin_x=	"${0}"	
+      offset_origin_y=	"0" 
+      offset_origin_z=	"${0.0007}" 
+      finger_angle_r=		"0.0"
+      covers=				    "${covers}"
+      phalanges=				"${phalanges}"
+      tip=				      "${tips}"
+      taxels=           "${taxels}"
+    />
+    <xacro:finger 
+      sequence=			    "${seq}"
+      parent=				    "${seq}base_link"
+      finger_num=			  "2" 
+      offset_origin_x=	"${0}"	
+      offset_origin_y=	"-${0.0435}" 
+      offset_origin_z=	"${-0.001542}" 
+      finger_angle_r=		"${radians(5.0)}"
+      covers=				    "${covers}"
+      phalanges=				"${phalanges}"
+      tip=				      "${tips}"
+      taxels=           "${taxels}"
+    />
+    <xacro:thumb_right
+      sequence=			    "${seq}"
+      parent=				    "${seq}base_link"
+      finger_num=			  "3" 
+      offset_origin_x=	"-0.0182"	
+      offset_origin_y=	"0.019333" 
+      offset_origin_z=	"-0.045987"
+      covers=				    "${covers}"
+      finger_angle_r=		"0"
+      finger_angle_p=		"-${radians(95)}"	
+      finger_angle_y=		"-${radians(90)}"
+      phalanges=				"${phalanges}"
+      tip=				      "${tips}"
+      taxels=           "${taxels}"
+    />
+    </xacro:if>
+    <xacro:unless value="${defaultnames == 1}">
+      <xacro:finger 
+        sequence=			    "${seq}hitosashi_finger_"
+        parent=				    "${seq}base_link"
+        finger_num=			  "0"
+        offset_origin_x=	"${0}"	
+        offset_origin_y=	"${0.0435}"
+        offset_origin_z=	"${-0.001542}"
+        finger_angle_r=		"-${radians(5.0)}"
+        covers=				    "${covers}"
+        phalanges=				"${phalanges}"
+        tip=				      "${tips}"
+        taxels=           "${taxels}"
+      />
+      <xacro:finger
+        sequence=			    "${seq}naka_finger_"
+        parent=				    "${seq}base_link"
+        finger_num=			  "1" 
+        offset_origin_x=	"${0}"	
+        offset_origin_y=	"0" 
+        offset_origin_z=	"${0.0007}" 
+        finger_angle_r=		"0.0"
+        covers=				    "${covers}"
+        phalanges=				"${phalanges}"
+        tip=				      "${tips}"
+        taxels=           "${taxels}"
+      />
+      <xacro:finger 
+        sequence=			    "${seq}kusuri_finger_"
+        parent=				    "${seq}base_link"
+        finger_num=			  "2" 
+        offset_origin_x=	"${0}"	
+        offset_origin_y=	"-${0.0435}" 
+        offset_origin_z=	"${-0.001542}" 
+        finger_angle_r=		"${radians(5.0)}"
+        covers=				    "${covers}"
+        phalanges=				"${phalanges}"
+        tip=				      "${tips}"
+        taxels=           "${taxels}"
+      />
+      <xacro:thumb_right
+        sequence=			    "${seq}oya_finger_"
+        parent=				    "${seq}base_link"
+        finger_num=			  "3" 
+        offset_origin_x=	"-0.0182"	
+        offset_origin_y=	"0.019333" 
+        offset_origin_z=	"-0.045987"
+        covers=				    "${covers}"
+        finger_angle_r=		"0"
+        finger_angle_p=		"-${radians(95)}"	
+        finger_angle_y=		"-${radians(90)}"
+        phalanges=				"${phalanges}"
+        tip=				      "${tips}"
+        taxels=           "${taxels}"
+      />
+    </xacro:unless>
+    </xacro:macro>
+    <!--FINGER MACRO-->
+    <xacro:macro name="finger" params="sequence parent finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r covers:=1 tip:='flat' phalanges:=1 taxels:=0">
+      <link name="${sequence}finger_link_${finger_num*4+0}">	
+        <visual>
+          <geometry>
+            <mesh filename="package://xela_models/mesh/allegro/link_0.0_ext.STL" />
+          </geometry>
+          <material name="grey"/>
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0164}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${0.0164/2+0.003}"/>
+        </collision>
+        <inertial>
+          <mass value="0.0127" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07" />
+        </inertial>
+      </link>
+      <joint name="${sequence}finger_joint_${finger_num*4+0}" type="revolute">
+        <axis xyz="0 0 1"/>
+        <limit effort="15" velocity="7" lower="${-0.57+0.1}" upper="${0.57-0.1}" />
+        <parent link="${parent}"/>
+        <child link="${sequence}finger_link_${finger_num*4+0}"/>
+        <origin rpy="${finger_angle_r} 0 0" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+      </joint>
+      <link name="${sequence}finger_link_${finger_num*4+1}">	
+        <visual>
+          <geometry>
+            <xacro:if value="${phalanges == 1}">
+              <mesh filename="package://xela_models/mesh/allegro/link_1.1.stl" />
+            </xacro:if>
+            <xacro:if value="${phalanges != 1}">
+              <mesh filename="package://xela_models/mesh/allegro/link_1_ns.stl"/>   
+            </xacro:if>
+          </geometry>
+          <material name="black" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0164}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${0.0164/2}"/>
+        </collision>
+        <xacro:if value="${covers == 1}">
+          <inertial>
+            <mass value="0.0809" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1.75e-05" ixy="0.0" ixz="5.66e-08" iyy="1.80e-05" iyz="0.0" izz="4.60e-06" />
+          </inertial>
+        </xacro:if>
+        <xacro:unless value="${covers == 1}">
+          <xacro:if value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0719" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="1.56e-05" ixy="0.0" ixz="5.03e-08" iyy="1.60e-05" iyz="0.0" izz="4.09e-06" />
+            </inertial>
+          </xacro:if>
+          <xacro:unless value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0650" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="1.14e-05" ixy="0.0" ixz="0.0" iyy="1.12e-05" iyz="0.0" izz="2.56e-06" />
+            </inertial>
+          </xacro:unless>
+        </xacro:unless>
+      </link>
+      <xacro:if value="${covers == 1}"><!--covers are always with sensors-->
+        <link name="${sequence}finger_link_${finger_num*4+1}_cover">	
+          <visual>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl" />
+            </geometry>
+            <material name="red"/>
+          </visual>
+          <collision>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/link_1_cover.stl" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 ${0.0177/2}"/>
+          </collision>
+          <!--As link is fixed, inertias will be inside the main link-->
+        </link>
+        <joint name="${sequence}finger_link_${finger_num*4+1}_cover_joint" type="fixed">
+          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+          <parent link="${sequence}finger_link_${finger_num*4+1}" />
+          <child link="${sequence}finger_link_${finger_num*4+1}_cover" />
+        </joint>
+      </xacro:if>
+      <xacro:if value="${phalanges == 1 and taxels == 1}">
+        <xacro:sensor4x4 sequence="${sequence}finger_link_${finger_num*4+1}A" col="red" parent="${sequence}finger_link_${finger_num*4+1}" ry="-90" rz="180" z="0.033" y="0.012" x="0.0108" body="0" taxels="${taxels}" skipinertia="1" />
+        <xacro:sensor4x4 sequence="${sequence}finger_link_${finger_num*4+1}B" col="red" parent="${sequence}finger_link_${finger_num*4+1}" ry="90" z="0.021" y="-0.012" x="0.0108" body="0" taxels="${taxels}" skipinertia="1" />
+      </xacro:if>
+      <joint name="${sequence}finger_joint_${finger_num*4+1}" type="revolute">
+        <limit effort="15" velocity="7" lower="${-0.296+0.1}" upper="${1.71-0.1}" />
+        <axis xyz="0 1 0"/>
+        <parent link="${sequence}finger_link_${finger_num*4+0}"/>
+        <child link="${sequence}finger_link_${finger_num*4+1}"/>
+        <origin xyz="0 0 ${0.0164+0.004}"/><!-- New height on fingers -->
+      </joint>
+      <link name="${sequence}finger_link_${finger_num*4+2}">	
+        <visual>
+          <geometry>
+            <xacro:if value="${phalanges == 1}">
+              <mesh filename="package://xela_models/mesh/allegro/link_2.1.stl" />
+            </xacro:if>
+            <xacro:if value="${phalanges != 1}">
+              <mesh filename="package://xela_models/mesh/allegro/link_2_ns.stl"/>   
+            </xacro:if>
+          </geometry>
+          <material name="black" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0540}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${0.0540/2}"/>     
+        </collision>
+        <xacro:if value="${covers == 1}"><!--covers are always with sensors-->
+          <inertial>
+            <mass value="0.0447" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="3.80e-07" ixy="0.0" ixz="7.15e-09" iyy="2.26e-07" iyz="1.34e-09" izz="1.86e-07" />
+          </inertial>
+        </xacro:if>
+        <xacro:unless value="${covers == 1}">
+          <xacro:if value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0422" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="3.15e-06" ixy="0.0" ixz="0.0" iyy="3.05e-06" iyz="0.0" izz="1.33e-06" />
+            </inertial>
+          </xacro:if>
+          <xacro:unless value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0355" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="2.46e-06" ixy="0.0" ixz="0.0" iyy="2.26e-06" iyz="0.0" izz="8.95e-07" />
+            </inertial>
+          </xacro:unless>
+        </xacro:unless>
+      </link>
+      <xacro:if value="${covers == 1}">
+        <link name="${sequence}finger_link_${finger_num*4+2}_cover">	
+          <visual>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl" />
+            </geometry>
+            <material name="red"/>
+          </visual>
+          <collision>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/link_2_cover.stl" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 ${0.0514/2}"/>
+          </collision>
+        </link>
+        <joint name="${sequence}finger_link_${finger_num*4+2}_cover_joint" type="fixed">
+          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+          <parent link="${sequence}finger_link_${finger_num*4+2}" />
+          <child link="${sequence}finger_link_${finger_num*4+2}_cover" />
+        </joint>
+      </xacro:if>
+      <xacro:if value="${phalanges == 1 and taxels == 1}">
+        <xacro:sensor4x4 sequence="${sequence}finger_link_${finger_num*4+2}" col="red" parent="${sequence}finger_link_${finger_num*4+2}" ry="90" z="0.0445" y="-0.012" x="0.01" body="0" skipinertia="1" />
+      </xacro:if>
+      <joint name="${sequence}finger_joint_${finger_num*4+2}" type="revolute">
+        <axis xyz="0 1 0"/>
+        <limit effort="15" velocity="7" lower="${-0.274+0.1}" upper="${1.809-0.1}" />
+        <parent link="${sequence}finger_link_${finger_num*4+1}"/>
+        <child link="${sequence}finger_link_${finger_num*4+2}"/>
+        <origin xyz="0 0 ${0.0540}"/>
+      </joint>
+      <link name="${sequence}finger_link_${finger_num*4+3}">	
+        <visual>
+          <geometry>
+            <mesh filename="package://xela_models/mesh/allegro/link_3.0.STL" />
+          </geometry>
+          <material name="black" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0384-0.0120}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${(0.0384-0.0120)/2}"/>
+        </collision>
+        <xacro:if value="${tip == 'flat'}">
+          <inertial>
+            <mass value="0.0281" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1.59e-06" ixy="0.0" ixz="0.0" iyy="1.49e-06" iyz="0.0" izz="1.10e-06" />
+          </inertial>
+        </xacro:if>
+        <xacro:if value="${tip == 'curved'}">
+          <inertial>
+            <mass value="0.0404" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="3.64e-06" ixy="0.0" ixz="0.0" iyy="3.33e-06" iyz="0.0" izz="1.92e-06" />
+          </inertial>
+        </xacro:if>
+        <xacro:unless value="${tip == 'flat' or tip == 'curved'}">
+          <inertial>
+            <mass value="0.0280" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="3.05e-07" ixy="0.0" ixz="0.0" iyy="1.51e-07" iyz="0.0" izz="2.56e-07" />
+          </inertial>
+        </xacro:unless>
+      </link>
+      <joint name="${sequence}finger_joint_${finger_num*4+3}" type="revolute">
+        <axis xyz="0 1 0"/>
+        <limit effort="15" velocity="7" lower="${-0.327+0.1}" upper="${1.718-0.1}" />
+        <parent link="${sequence}finger_link_${finger_num*4+2}"/>
+        <child link="${sequence}finger_link_${finger_num*4+3}"/>
+        <origin xyz="0 0.0 0.0384"/>
+      </joint>
+    <xacro:if value="${tip == 'flat'}">
+      <xacro:sensoraftf sequence="${sequence}finger_${finger_num}" col="red" parent="${sequence}finger_link_${finger_num*4+3}" rx="90" rz="90" z="0.016" taxels="${taxels}" skipinertia="1"/>
+    </xacro:if>
+    <xacro:if value="${tip == 'curved'}">
+      <xacro:sensoraftc sequence="${sequence}finger_${finger_num}" col="red" parent="${sequence}finger_link_${finger_num*4+3}" rx="90" rz="90" z="0.016" taxels="${taxels}" skipinertia="1"/>
+    </xacro:if>
+    <xacro:if value="${tip == 'default'}">
+      <xacro:aftd sequence="${sequence}finger_${finger_num}" col="white" parent="${sequence}finger_link_${finger_num*4+3}" rx="0" rz="0" z="0.027" x="0.013" skipinertia="1"/>
+    </xacro:if>
+    </xacro:macro>
+
+    <!--THUMB MACRO-->
+    <xacro:macro name="thumb_right" params="sequence parent finger_num offset_origin_x offset_origin_y offset_origin_z finger_angle_r finger_angle_p finger_angle_y covers:=1 phalanges:=1 tip:='flat' taxels:=0">
+      <link name="${sequence}_link_${finger_num*4+0}">
+        <visual>
+          <geometry>
+            <mesh filename="package://xela_models/mesh/allegro/link_12.0_right.STL" />
+          </geometry>
+          <material name="grey" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0358} ${0.0340} ${0.0455}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/>
+        </collision>
+        <inertial>
+          <mass value="0.0176" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="3.36e-06" ixy="0.0" ixz="1.76e-08" iyy="3.84e-06" iyz="2.46e-07" izz="2.59e-06" />
+        </inertial>
+      </link>
+      <joint name="${sequence}_joint_${finger_num*4+0}" type="revolute">
+        <axis xyz="-1 0 0"/>
+        <limit effort="15" velocity="7" lower="${0.363-0.1}" upper="${1.496-0.1}" />
+        <parent link="${parent}"/>
+        <child link="${sequence}_link_${finger_num*4+0}"/>
+        <origin rpy="${finger_angle_r} ${finger_angle_p} ${finger_angle_y}" xyz="${offset_origin_x} ${offset_origin_y} ${offset_origin_z}"/>
+      </joint>
+      <link name="${sequence}_link_${finger_num*4+1}">	
+        <visual>
+          <geometry>
+            <mesh filename="package://xela_models/mesh/allegro/link_13.0.STL" />
+          </geometry>
+          <material name="grey" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0177}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${0.0177/2}"/>
+        </collision>
+        <inertial>
+          <mass value="0.0127" />
+          <origin xyz="0 0 0" rpy="0 0 0"/>
+          <inertia ixx="1.38e-07" ixy="1.27e-10" ixz="4.83e-09" iyy="6.83e-08" iyz="0.0" izz="1.16e-07" />
+        </inertial>
+      </link>
+      <xacro:if value="${covers == 1}">
+        <link name="${sequence}_link_${finger_num*4+2}_cover">	
+          <visual>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/thumb_1_cover.stl" />
+            </geometry>
+            <material name="red"/>
+          </visual>
+          <collision>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/thumb_1_cover.stl" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+          </collision>
+        </link>
+        <joint name="${sequence}_link_${finger_num*4+2}_cover_joint" type="fixed">
+          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+          <parent link="${sequence}_link_${finger_num*4+2}" />
+          <child link="${sequence}_link_${finger_num*4+2}_cover" />
+        </joint>
+      </xacro:if>
+      <joint name="${sequence}_joint_${finger_num*4+1}" type="revolute">
+        <axis xyz="0 0 1"/>
+        <limit effort="15" velocity="7" lower="${-0.205+0.1}" upper="${1.263-0.1}" />
+        <parent link="${sequence}_link_${finger_num*4+0}"/>
+        <child link="${sequence}_link_${finger_num*4+1}"/>   
+        <origin xyz="-0.027 0.005 0.0399"/>
+      </joint>
+      <link name="${sequence}_link_${finger_num*4+2}">	
+        <visual>
+          <geometry>
+            <xacro:if value="${phalanges == 1}">
+              <mesh filename="package://xela_models/mesh/allegro/thumb_1.1.stl"/>   
+            </xacro:if>
+            <xacro:if value="${phalanges != 1}">
+              <mesh filename="package://xela_models/mesh/allegro/thumb_1.1_ns.stl"/>   
+            </xacro:if>
+          </geometry>
+          <material name="black" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0514}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${0.0514/2}"/>
+        </collision>
+        <xacro:if value="${covers == 1}"><!--covers are always with sensors-->
+          <inertial>
+            <mass value="0.0457" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="3.20e-06" ixy="9.14e-09" ixz="1.46e-07" iyy="3.03e-06" iyz="0.0" izz="1.47e-06" />
+          </inertial>
+        </xacro:if>
+        <xacro:unless value="${covers == 1}">
+          <xacro:if value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0435" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="3.05e-06" ixy="8.70e-09" ixz="1.39e-07" iyy="2.88e-06" iyz="0.0" izz="1.40e-06" />
+            </inertial>
+          </xacro:if>
+          <xacro:unless value="${phalanges == 1}">
+            <inertial>
+              <mass value="0.0380" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="2.47e-06" ixy="0.0" ixz="2.66e-08" iyy="2.17e-06" iyz="3.80e-09" izz="9.20e-07" />
+            </inertial>
+          </xacro:unless>
+        </xacro:unless>
+      </link>
+      <xacro:if value="${covers == 1}">
+        <link name="${sequence}_link_${finger_num*4+3}_cover">	
+          <visual>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/thumb_2_cover.stl" />
+            </geometry>
+            <material name="red"/>
+          </visual>
+          <collision>
+            <geometry>
+              <mesh filename="package://xela_models/mesh/allegro/thumb_2_cover.stl" />
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+          </collision>
+        </link>
+        <joint name="${sequence}_link_${finger_num*4+3}_cover_joint" type="fixed">
+          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+          <parent link="${sequence}_link_${finger_num*4+3}" />
+          <child link="${sequence}_link_${finger_num*4+3}_cover" />
+        </joint>
+      </xacro:if>
+      <xacro:if value="${phalanges == 1 and taxels == 1}">
+        <xacro:sensor4x4 sequence="${sequence}_link_${finger_num*4+2}" parent="${sequence}_link_${finger_num*4+2}" ry="90" z="0.023" y="-0.012" x="0.011" body="0" skipinertia="1" />
+      </xacro:if>
+      <joint name="${sequence}_joint_${finger_num*4+2}" type="revolute">
+        <axis xyz="0 1 0"/>
+        <limit effort="15" velocity="7" lower="${-0.289+0.1}" upper="${1.744-0.1}" />
+        <parent link="${sequence}_link_${finger_num*4+1}"/>
+        <child link="${sequence}_link_${finger_num*4+2}"/>
+        <origin xyz="0 0 ${0.0177}"/>
+      </joint> 
+      <link name="${sequence}_link_${finger_num*4+3}">
+        <visual>
+          <geometry>
+            <xacro:if value="${phalanges == 1}">
+              <mesh filename="package://xela_models/mesh/allegro/thumb_2.1.stl"/>  
+            </xacro:if>
+            <xacro:if value="${phalanges != 1}">
+              <mesh filename="package://xela_models/mesh/allegro/thumb_1.2_ns.stl"/>   
+            </xacro:if> 
+          </geometry>
+        <material name="black" />
+        </visual>
+        <collision>
+          <geometry>
+            <box size="${0.0196} ${0.0275} ${0.0543-0.0120}"/>
+          </geometry>
+          <origin rpy="0 0 0" xyz="0 0 ${(0.0543-0.0120)/2}"/>
+        </collision><!--6 options-->
+        <xacro:if value="${covers == 1}"><!--covers are always with phalange sensors-->
+          <xacro:if value="${tips == 'curved'}">
+            <inertial>
+              <mass value="0.0753" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="2.90e-05" ixy="0.0" ixz="0.0" iyy="2.90e-05" iyz="0.0" izz="6.88e-06" />
+            </inertial>
+          </xacro:if>
+          <xacro:if value="${tips == 'flat'}">
+            <inertial>
+              <mass value="0.0629" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="1.73e-05" ixy="0.0" ixz="0.0" iyy="1.77e-05" iyz="0.0" izz="5.47e-06" />
+            </inertial>
+          </xacro:if>
+          <xacro:unless value="${tips == 'flat' or tips == 'curved'}">
+            <inertial>
+              <mass value="0.0645" />
+              <origin xyz="0 0 0" rpy="0 0 0"/>
+              <inertia ixx="1.20e-05" ixy="0.0" ixz="0.0" iyy="1.22e-05" iyz="0.0" izz="4.03e-06" />
+            </inertial>
+          </xacro:unless>
+        </xacro:if>
+        <xacro:unless value="${covers == 1}">
+          <xacro:if value="${phalanges == 1}">
+            <xacro:if value="${tips == 'curved'}">
+              <inertial>
+                <mass value="0.0731" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="2.82e-05" ixy="0.0" ixz="0.0" iyy="2.82e-05" iyz="0.0" izz="6.68e-06" />
+              </inertial>
+            </xacro:if>
+            <xacro:if value="${tips == 'flat'}">
+              <inertial>
+                <mass value="0.0607" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="1.67e-05" ixy="0.0" ixz="0.0" iyy="1.71e-05" iyz="0.0" izz="5.27e-06" />
+              </inertial>
+            </xacro:if>
+            <xacro:unless value="${tips == 'flat' or tips == 'curved'}">
+              <inertial>
+                <mass value="0.0623" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="1.16e-05" ixy="0.0" ixz="0.0" iyy="1.17e-05" iyz="0.0" izz="3.89e-06" />
+              </inertial>
+            </xacro:unless>
+          </xacro:if>
+          <xacro:unless value="${phalanges == 1}">
+            <xacro:if value="${tips == 'curved'}">
+              <inertial>
+                <mass value="0.0674" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="2.43e-05" ixy="0.0" ixz="0.0" iyy="2.39e-05" iyz="0.0" izz="5.37e-06" />
+              </inertial>
+            </xacro:if>
+            <xacro:if value="${tips == 'flat'}">
+              <inertial>
+                <mass value="0.0550" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="1.42e-05" ixy="0.0" ixz="0.0" iyy="1.44e-05" iyz="0.0" izz="4.30e-06" />
+              </inertial>
+            </xacro:if>
+            <xacro:unless value="${tips == 'flat' or tips == 'curved'}">
+              <inertial>
+                <mass value="0.0576" />
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <inertia ixx="1.01e-05" ixy="0.0" ixz="0.0" iyy="9.84e-06" iyz="0.0" izz="2.91e-06" />
+              </inertial>
+            </xacro:unless>
+          </xacro:unless>
+        </xacro:unless>
+      </link>
+      <xacro:if value="${phalanges == 1 and taxels == 1}">
+        <xacro:sensor4x4 sequence="${sequence}_link_${finger_num*4+3}" parent="${sequence}_link_${finger_num*4+3}" ry="90" z="0.021" y="-0.012" x="0.011" body="0" skipinertia="1" />
+      </xacro:if>
+    <joint name="${sequence}_joint_${finger_num*4+3}" type="revolute">
+      <axis xyz="0 1 0"/>
+      <limit effort="15" velocity="7" lower="${-0.262+0.1}" upper="${1.819-0.1}" />
+      <parent link="${sequence}_link_${finger_num*4+2}"/>
+      <child link="${sequence}_link_${finger_num*4+3}"/>
+      <origin xyz="0 0 ${0.0514}"/>
+    </joint>
+    <xacro:if value="${tip == 'flat'}">
+      <xacro:sensoraftf sequence="${sequence}_${finger_num}" col="green" parent="${sequence}_link_${finger_num*4+3}" rx="90" rz="90" z="0.0315" taxels="${taxels}" skipinertia="1" />
+    </xacro:if>
+    <xacro:if value="${tip == 'curved'}">
+      <xacro:sensoraftc sequence="${sequence}_${finger_num}" col="green" parent="${sequence}_link_${finger_num*4+3}" rx="90" rz="90" z="0.0315" taxels="${taxels}" skipinertia="1" />
+    </xacro:if>
+    <xacro:if value="${tip == 'default'}">
+      <xacro:aftd sequence="${sequence}_${finger_num}" col="white" parent="${sequence}_link_${finger_num*4+3}" rx="0" rz="0" z="0.042" x="0.013" skipinertia="1" />
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/pretraining/watermelon/0/allegro/data.pkl b/pretraining/watermelon/0/allegro/data.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6d9f2252933c61a2b8d8fc3d7d70c0beb0c203d1
--- /dev/null
+++ b/pretraining/watermelon/0/allegro/data.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7852b200c8bf60c17e7de98f4e854f2c368d55f943a0026cb312a25a9cd251c6
+size 6278892
diff --git a/pretraining/watermelon/0/xela/data.pkl b/pretraining/watermelon/0/xela/data.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..021e028f5d7af262b6373d3f3d7295db903f7d69
--- /dev/null
+++ b/pretraining/watermelon/0/xela/data.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 137367512
diff --git a/pretraining/watermelon/0/xela/forces.pkl b/pretraining/watermelon/0/xela/forces.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8fcde9bb051344777fb0966a2a338e10e77ce4c6
--- /dev/null
+++ b/pretraining/watermelon/0/xela/forces.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/1/allegro/data.pkl b/pretraining/watermelon/1/allegro/data.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a240bf2e684bc8f55861ac082f85dd5f0fc03bfb
--- /dev/null
+++ b/pretraining/watermelon/1/allegro/data.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6249588
diff --git a/pretraining/watermelon/1/xela/data.pkl b/pretraining/watermelon/1/xela/data.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..36f8eaa793e5da9e2f4bef5c8f5a7767be5652fb
--- /dev/null
+++ b/pretraining/watermelon/1/xela/data.pkl
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+version https://git-lfs.github.com/spec/v1
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+size 134957558
diff --git a/pretraining/watermelon/1/xela/forces.pkl b/pretraining/watermelon/1/xela/forces.pkl
new file mode 100644
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--- /dev/null
+++ b/pretraining/watermelon/1/xela/forces.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/2/allegro/data.pkl b/pretraining/watermelon/2/allegro/data.pkl
new file mode 100644
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--- /dev/null
+++ b/pretraining/watermelon/2/allegro/data.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/2/xela/data.pkl b/pretraining/watermelon/2/xela/data.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/2/xela/forces.pkl b/pretraining/watermelon/2/xela/forces.pkl
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diff --git a/pretraining/watermelon/3/allegro/data.pkl b/pretraining/watermelon/3/allegro/data.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/3/xela/data.pkl b/pretraining/watermelon/3/xela/data.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/pretraining/watermelon/3/xela/forces.pkl b/pretraining/watermelon/3/xela/forces.pkl
new file mode 100644
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