diff --git a/pyrobolearn/robots/urdfs/aibo/LICENSE b/pyrobolearn/robots/urdfs/aibo/LICENSE
new file mode 100644
index 0000000..c221703
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/aibo/LICENSE
@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2015 Dave Kotfis
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/pyrobolearn/robots/urdfs/aibo/aibo.urdf b/pyrobolearn/robots/urdfs/aibo/aibo.urdf
new file mode 100644
index 0000000..abbfef1
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/aibo/aibo.urdf
@@ -0,0 +1,754 @@
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LBdown.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LBdown.stl
new file mode 100644
index 0000000..4304da7
Binary files /dev/null and b/pyrobolearn/robots/urdfs/aibo/meshes/LBdown.stl differ
diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LBpaw.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LBpaw.stl
new file mode 100644
index 0000000..f874a41
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LBup.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LBup.stl
new file mode 100644
index 0000000..9b6062c
Binary files /dev/null and b/pyrobolearn/robots/urdfs/aibo/meshes/LBup.stl differ
diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LFdown.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LFdown.stl
new file mode 100644
index 0000000..fc02497
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LFpaw.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LFpaw.stl
new file mode 100644
index 0000000..ffd6062
Binary files /dev/null and b/pyrobolearn/robots/urdfs/aibo/meshes/LFpaw.stl differ
diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/LFup.stl b/pyrobolearn/robots/urdfs/aibo/meshes/LFup.stl
new file mode 100644
index 0000000..cc3981e
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RBdown.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RBdown.stl
new file mode 100644
index 0000000..cf4b757
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RBpaw.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RBpaw.stl
new file mode 100644
index 0000000..6625cbe
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RBup.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RBup.stl
new file mode 100644
index 0000000..9426690
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RFdown.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RFdown.stl
new file mode 100644
index 0000000..e3fb5c9
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RFpaw.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RFpaw.stl
new file mode 100644
index 0000000..db4300b
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/RFup.stl b/pyrobolearn/robots/urdfs/aibo/meshes/RFup.stl
new file mode 100644
index 0000000..8766c57
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/body1.stl b/pyrobolearn/robots/urdfs/aibo/meshes/body1.stl
new file mode 100644
index 0000000..ed51070
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/head.stl b/pyrobolearn/robots/urdfs/aibo/meshes/head.stl
new file mode 100644
index 0000000..7cc79db
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diff --git a/pyrobolearn/robots/urdfs/aibo/meshes/tail.stl b/pyrobolearn/robots/urdfs/aibo/meshes/tail.stl
new file mode 100644
index 0000000..b7b1eaa
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diff --git a/pyrobolearn/robots/urdfs/allegrohand/LICENSE b/pyrobolearn/robots/urdfs/allegrohand/LICENSE
new file mode 100644
index 0000000..0ebe935
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/allegrohand/LICENSE
@@ -0,0 +1,27 @@
+This software is graciously provided by SimLab under the Simplified BSD License.
+HumaRobotics is a trademark of Wonik Robotics
+
+Copyright (c) 2013, Wonik Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the FreeBSD Project.
diff --git a/pyrobolearn/robots/urdfs/allegrohand/allegro_right_hand.urdf b/pyrobolearn/robots/urdfs/allegrohand/allegro_right_hand.urdf
new file mode 100644
index 0000000..2eb4f85
--- /dev/null
+++ b/pyrobolearn/robots/urdfs/allegrohand/allegro_right_hand.urdf
@@ -0,0 +1,1078 @@
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ hardware_interface/PositionJointInterface
+ 1
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+
+
+ transmission_interface/SimpleTransmission
+
+ hardware_interface/PositionJointInterface
+
+
+ hardware_interface/PositionJointInterface
+ 1
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1000000.0
+ 1.0
+ 0.8
+ 0.8
+ 0.0
+ 0.001
+
+
+
+
+
+
+
+
+
+
+
+
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+ /
+
+
+
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link.STL
new file mode 100644
index 0000000..5901473
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link_left.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link_left.STL
new file mode 100644
index 0000000..365d7e7
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/base_link_left.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_0.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_0.STL
new file mode 100755
index 0000000..6db5cdb
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_0.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_1.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_1.STL
new file mode 100644
index 0000000..84e4351
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_1.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_left.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_left.STL
new file mode 100644
index 0000000..aeaa37a
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_left.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_right.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_right.STL
new file mode 100755
index 0000000..7eecece
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_12_right.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_13.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_13.STL
new file mode 100644
index 0000000..3ca4ec3
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_13.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_14.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_14.STL
new file mode 100644
index 0000000..73d6f69
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_14.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15.STL
new file mode 100644
index 0000000..e16bff4
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15_tip.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15_tip.STL
new file mode 100644
index 0000000..9b1d811
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_15_tip.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_2.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_2.STL
new file mode 100644
index 0000000..20a911a
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_2.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3.STL
new file mode 100644
index 0000000..a1fffee
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3_tip.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3_tip.STL
new file mode 100644
index 0000000..b7d9be8
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_3_tip.STL differ
diff --git a/pyrobolearn/robots/urdfs/allegrohand/meshes/link_4.STL b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_4.STL
new file mode 100644
index 0000000..ae75f70
Binary files /dev/null and b/pyrobolearn/robots/urdfs/allegrohand/meshes/link_4.STL differ