diff --git "a/assets/gripper/description/barrett_hand/meshes/knuckle.dae" "b/assets/gripper/description/barrett_hand/meshes/knuckle.dae"
new file mode 100644--- /dev/null
+++ "b/assets/gripper/description/barrett_hand/meshes/knuckle.dae"
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Mon Jun 23 11:38:05 2014</created>
+        <modified>Mon Jun 23 11:38:05 2014</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
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1775 2 1775 914 1775 914 1776 2 1776 913 1776 914 1777 913 1777 107 1777 107 1778 913 1778 915 1778 107 1779 915 1779 113 1779 113 1780 915 1780 3 1780 113 1781 3 1781 916 1781 916 1782 3 1782 917 1782 916 1783 917 1783 102 1783 102 1784 917 1784 918 1784 102 1785 918 1785 101 1785 101 1786 918 1786 919 1786 101 1787 919 1787 1 1787 922 1788 0 1788 921 1788 921 1789 0 1789 950 1789 920 1790 910 1790 921 1790 921 1791 910 1791 912 1791 921 1792 912 1792 922 1792 939 1793 112 1793 923 1793 923 1794 112 1794 110 1794 923 1795 110 1795 924 1795 924 1796 110 1796 109 1796 924 1797 109 1797 940 1797 940 1798 109 1798 108 1798 940 1799 108 1799 925 1799 925 1800 108 1800 926 1800 925 1801 926 1801 927 1801 927 1802 926 1802 928 1802 927 1803 928 1803 944 1803 944 1804 928 1804 938 1804 944 1805 938 1805 929 1805 939 1806 930 1806 112 1806 112 1807 930 1807 931 1807 112 1808 931 1808 932 1808 932 1809 931 1809 7 1809 932 1810 7 1810 100 1810 100 1811 7 1811 933 1811 100 1812 933 1812 934 1812 934 1813 933 1813 935 1813 934 1814 935 1814 936 1814 936 1815 935 1815 5 1815 936 1816 5 1816 937 1816 937 1817 5 1817 6 1817 937 1818 6 1818 938 1818 938 1819 6 1819 942 1819 938 1820 942 1820 929 1820 944 1821 939 1821 923 1821 923 1822 924 1822 940 1822 944 1823 923 1823 927 1823 927 1824 923 1824 940 1824 927 1825 940 1825 925 1825 941 1826 943 1826 942 1826 942 1827 943 1827 944 1827 943 1828 945 1828 944 1828 944 1829 945 1829 939 1829 945 1830 946 1830 939 1830 939 1831 946 1831 931 1831 946 1832 941 1832 931 1832 931 1833 941 1833 942 1833 946 1834 945 1834 941 1834 941 1835 945 1835 943 1835 951 1836 947 1836 919 1836 919 1837 947 1837 0 1837 947 1838 948 1838 0 1838 0 1839 948 1839 950 1839 948 1840 949 1840 950 1840 950 1841 949 1841 2 1841 949 1842 951 1842 2 1842 2 1843 951 1843 919 1843 949 1844 948 1844 951 1844 951 1845 948 1845 947 1845</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>