diff --git "a/assets/gripper/description/barrett_hand/meshes/finger_tip.dae" "b/assets/gripper/description/barrett_hand/meshes/finger_tip.dae"
new file mode 100644--- /dev/null
+++ "b/assets/gripper/description/barrett_hand/meshes/finger_tip.dae"
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Mon Jun 23 11:36:57 2014</created>
+        <modified>Mon Jun 23 11:36:57 2014</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
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3120 1570 3120 1569 3120 1570 3121 1571 3121 1569 3121 1569 3122 1571 3122 1572 3122 1571 3123 1574 3123 1572 3123 1572 3124 1574 3124 1543 3124 1574 3125 1573 3125 1543 3125 1543 3126 1573 3126 1544 3126 1573 3127 1575 3127 1544 3127 1544 3128 1575 3128 1538 3128 1575 3129 1577 3129 1538 3129 1538 3130 1577 3130 1539 3130 1577 3131 1562 3131 1539 3131 1539 3132 1562 3132 1541 3132 1573 3133 1574 3133 1575 3133 1575 3134 1574 3134 1571 3134 1576 3135 1565 3135 1566 3135 1566 3136 1565 3136 1563 3136 1562 3137 1577 3137 1563 3137 1563 3138 1577 3138 1575 3138 1563 3139 1575 3139 1566 3139 1566 3140 1575 3140 1571 3140 1566 3141 1571 3141 1567 3141 1567 3142 1571 3142 1570 3142 88 3143 87 3143 1585 3143 1591 3144 1593 3144 1578 3144 1578 3145 1593 3145 21 3145 1578 3146 21 3146 98 3146 1579 3147 99 3147 1580 3147 1579 3148 1580 3148 21 3148 21 3149 1580 3149 1581 3149 21 3150 1581 3150 98 3150 1582 3151 84 3151 1579 3151 1579 3152 84 3152 1583 3152 1579 3153 1583 3153 83 3153 83 3154 101 3154 1579 3154 1579 3155 101 3155 1584 3155 1579 3156 1584 3156 99 3156 87 3157 1586 3157 1585 3157 1585 3158 1586 3158 1587 3158 1585 3159 1587 3159 1582 3159 1582 3160 1587 3160 1588 3160 1582 3161 1588 3161 84 3161 88 3162 1585 3162 89 3162 89 3163 1585 3163 1590 3163 89 3164 1590 3164 90 3164 39 3165 95 3165 1589 3165 1589 3166 95 3166 94 3166 94 3167 93 3167 1589 3167 1589 3168 93 3168 92 3168 1589 3169 92 3169 1590 3169 1590 3170 92 3170 91 3170 1590 3171 91 3171 90 3171 1591 3172 1592 3172 1593 3172 1593 3173 1592 3173 27 3173 1593 3174 27 3174 1594 3174 1594 3175 27 3175 1595 3175 1594 3176 1595 3176 19 3176 19 3177 1595 3177 38 3177 19 3178 38 3178 18 3178 18 3179 38 3179 37 3179 18 3180 37 3180 13 3180 13 3181 37 3181 36 3181 13 3182 36 3182 1596 3182 1596 3183 36 3183 34 3183 1596 3184 34 3184 1589 3184 1589 3185 34 3185 33 3185 1589 3186 33 3186 39 3186 2 3187 1599 3187 1597 3187 2 3188 1597 3188 3 3188 54 3189 1598 3189 1 3189 1 3190 1598 3190 52 3190 1 3191 52 3191 2 3191 2 3192 52 3192 51 3192 2 3193 51 3193 1599 3193 1600 3194 1601 3194 1603 3194 1603 3195 1601 3195 1 3195 1 3196 1601 3196 55 3196 1 3197 55 3197 54 3197 56 3198 60 3198 1602 3198 1602 3199 60 3199 59 3199 1602 3200 59 3200 1603 3200 1603 3201 59 3201 57 3201 1603 3202 57 3202 1600 3202 1597 3203 1604 3203 3 3203 3 3204 1604 3204 1605 3204 3 3205 1605 3205 4 3205 4 3206 1605 3206 43 3206 4 3207 43 3207 0 3207 0 3208 43 3208 44 3208 0 3209 44 3209 8 3209 8 3210 44 3210 35 3210 8 3211 35 3211 9 3211 9 3212 35 3212 1606 3212 9 3213 1606 3213 10 3213 10 3214 1606 3214 23 3214 10 3215 23 3215 11 3215 11 3216 23 3216 25 3216 11 3217 25 3217 1607 3217 1607 3218 25 3218 1608 3218 1607 3219 1608 3219 1602 3219 1602 3220 1608 3220 26 3220 1602 3221 26 3221 56 3221 1622 3222 1621 3222 22 3222 22 3223 1621 3223 1609 3223 1621 3224 1623 3224 1609 3224 1609 3225 1623 3225 1611 3225 1623 3226 1610 3226 1611 3226 1611 3227 1610 3227 20 3227 1610 3228 1612 3228 20 3228 20 3229 1612 3229 17 3229 1612 3230 1625 3230 17 3230 17 3231 1625 3231 15 3231 1625 3232 1620 3232 15 3232 15 3233 1620 3233 16 3233 1620 3234 1619 3234 16 3234 16 3235 1619 3235 1613 3235 1619 3236 1624 3236 1613 3236 1613 3237 1624 3237 14 3237 1624 3238 1614 3238 14 3238 14 3239 1614 3239 12 3239 1614 3240 1615 3240 12 3240 12 3241 1615 3241 1616 3241 1615 3242 1617 3242 1616 3242 1616 3243 1617 3243 1618 3243 1617 3244 1622 3244 1618 3244 1618 3245 1622 3245 22 3245 1619 3246 1620 3246 1624 3246 1624 3247 1620 3247 1625 3247 1621 3248 1622 3248 1623 3248 1623 3249 1622 3249 1617 3249 1615 3250 1614 3250 1617 3250 1617 3251 1614 3251 1624 3251 1617 3252 1624 3252 1623 3252 1623 3253 1624 3253 1625 3253 1623 3254 1625 3254 1610 3254 1610 3255 1625 3255 1612 3255 1643 3256 1626 3256 1627 3256 1627 3257 1626 3257 6 3257 1626 3258 1628 3258 6 3258 6 3259 1628 3259 1630 3259 1628 3260 1629 3260 1630 3260 1630 3261 1629 3261 1631 3261 1629 3262 1632 3262 1631 3262 1631 3263 1632 3263 5 3263 1632 3264 1633 3264 5 3264 5 3265 1633 3265 1635 3265 1633 3266 1634 3266 1635 3266 1635 3267 1634 3267 1636 3267 1634 3268 1637 3268 1636 3268 1636 3269 1637 3269 1638 3269 1637 3270 1644 3270 1638 3270 1638 3271 1644 3271 1639 3271 1644 3272 1645 3272 1639 3272 1639 3273 1645 3273 1640 3273 1645 3274 1641 3274 1640 3274 1640 3275 1641 3275 7 3275 1641 3276 1646 3276 7 3276 7 3277 1646 3277 1642 3277 1646 3278 1643 3278 1642 3278 1642 3279 1643 3279 1627 3279 1626 3280 1643 3280 1628 3280 1628 3281 1643 3281 1629 3281 1637 3282 1634 3282 1644 3282 1644 3283 1634 3283 1645 3283 1633 3284 1632 3284 1634 3284 1634 3285 1632 3285 1629 3285 1634 3286 1629 3286 1645 3286 1645 3287 1629 3287 1643 3287 1645 3288 1643 3288 1641 3288 1641 3289 1643 3289 1646 3289</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>