From 02992bd1d0fe67e47c209b66591eb185bc5791a9 Mon Sep 17 00:00:00 2001
From: Jeremy Nimmer <jeremy.nimmer@tri.global>
Date: Mon, 25 Mar 2024 09:58:08 -0700
Subject: [PATCH] [models] Move allegro_hand_description into drake_models
 (#21184)

---
 BUILD.bazel                                   |   1 -
 examples/allegro_hand/BUILD.bazel             |  39 +-
 .../allegro_hand/joint_control/BUILD.bazel    |   2 +-
 .../allegro_single_object_simulation.cc       |   4 +-
 .../run_allegro_constant_load_demo.cc         |   4 +-
 .../allegro_hand}/test/parse_test.cc          |  17 +-
 manipulation/models/BUILD.bazel               |   1 -
 .../allegro_hand_description/BUILD.bazel      |  65 --
 .../allegro_hand_description/LICENSE.TXT      |  11 -
 .../sdf/allegro_hand_description_left.sdf     | 853 ------------------
 .../sdf/allegro_hand_description_right.sdf    | 852 -----------------
 .../urdf/allegro_hand_description_left.urdf   | 716 ---------------
 .../urdf/allegro_hand_description_right.urdf  | 716 ---------------
 tools/workspace/drake_models/repository.bzl   |   4 +-
 .../workspace/drake_models/test/parse_test.py |   5 +
 15 files changed, 59 insertions(+), 3231 deletions(-)
 rename {manipulation/models/allegro_hand_description => examples/allegro_hand}/test/parse_test.cc (79%)
 delete mode 100644 manipulation/models/allegro_hand_description/BUILD.bazel
 delete mode 100644 manipulation/models/allegro_hand_description/LICENSE.TXT
 delete mode 100644 manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
 delete mode 100644 manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
 delete mode 100644 manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
 delete mode 100644 manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf

diff --git a/BUILD.bazel b/BUILD.bazel
index 674d25fb0763..3043caaa775f 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -56,7 +56,6 @@ filegroup(
         "//examples/quadrotor:models",
         "//examples/scene_graph:models",
         "//examples/simple_gripper:simple_gripper_models",
-        "//manipulation/models/allegro_hand_description:models",
         "//manipulation/models/franka_description:models",
         "//manipulation/models/iiwa_description:models",
         "//manipulation/models/jaco_description:models",
diff --git a/examples/allegro_hand/BUILD.bazel b/examples/allegro_hand/BUILD.bazel
index dcbd498807ae..6fd1866eb8fa 100644
--- a/examples/allegro_hand/BUILD.bazel
+++ b/examples/allegro_hand/BUILD.bazel
@@ -10,6 +10,31 @@ package(
     default_visibility = [":__subpackages__"],
 )
 
+filegroup(
+    name = "models",
+    srcs = [
+        "@drake_models//:allegro_hand_description/meshes/allegro.mtl",
+        "@drake_models//:allegro_hand_description/meshes/base_link.obj",
+        "@drake_models//:allegro_hand_description/meshes/base_link_left.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_0.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_1.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_12.0_left.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_12.0_right.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_13.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_14.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_15.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_15.0_tip.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_2.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_3.0.obj",
+        "@drake_models//:allegro_hand_description/meshes/link_3.0_tip.obj",
+        "@drake_models//:allegro_hand_description/sdf/allegro_hand_description_left.sdf",  # noqa
+        "@drake_models//:allegro_hand_description/sdf/allegro_hand_description_right.sdf",  # noqa
+        "@drake_models//:allegro_hand_description/urdf/allegro_hand_description_left.urdf",  # noqa
+        "@drake_models//:allegro_hand_description/urdf/allegro_hand_description_right.urdf",  # noqa
+    ],
+    visibility = ["//visibility:public"],
+)
+
 drake_cc_library(
     name = "allegro_common",
     srcs = ["allegro_common.cc"],
@@ -36,7 +61,7 @@ drake_cc_binary(
     name = "run_allegro_constant_load_demo",
     srcs = ["run_allegro_constant_load_demo.cc"],
     data = [
-        "//manipulation/models/allegro_hand_description:models",
+        ":models",
     ],
     deps = [
         "//common:add_text_logging_gflags",
@@ -62,4 +87,16 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "parse_test",
+    data = [
+        ":models",
+    ],
+    deps = [
+        "//common:find_resource",
+        "//multibody/parsing",
+        "//multibody/plant",
+    ],
+)
+
 add_lint_tests(enable_clang_format_lint = False)
diff --git a/examples/allegro_hand/joint_control/BUILD.bazel b/examples/allegro_hand/joint_control/BUILD.bazel
index 0ec88186ce82..a700888d94f2 100644
--- a/examples/allegro_hand/joint_control/BUILD.bazel
+++ b/examples/allegro_hand/joint_control/BUILD.bazel
@@ -17,7 +17,7 @@ drake_cc_binary(
     srcs = ["allegro_single_object_simulation.cc"],
     data = [
         ":simple_mug.sdf",
-        "//manipulation/models/allegro_hand_description:models",
+        "//examples/allegro_hand:models",
     ],
     deps = [
         "//common:add_text_logging_gflags",
diff --git a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
index 89a28a0544a0..edff25499655 100644
--- a/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
+++ b/examples/allegro_hand/joint_control/allegro_single_object_simulation.cc
@@ -90,11 +90,11 @@ void DoMain() {
   std::string hand_model_url;
   if (FLAGS_use_right_hand) {
     hand_model_url =
-        "package://drake/manipulation/models/"
+        "package://drake_models/"
         "allegro_hand_description/sdf/allegro_hand_description_right.sdf";
   } else {
     hand_model_url =
-        "package://drake/manipulation/models/"
+        "package://drake_models/"
         "allegro_hand_description/sdf/allegro_hand_description_left.sdf";
   }
 
diff --git a/examples/allegro_hand/run_allegro_constant_load_demo.cc b/examples/allegro_hand/run_allegro_constant_load_demo.cc
index eb3f1b4f4129..54ca6cc1dc14 100644
--- a/examples/allegro_hand/run_allegro_constant_load_demo.cc
+++ b/examples/allegro_hand/run_allegro_constant_load_demo.cc
@@ -57,10 +57,10 @@ void DoMain() {
 
   std::string hand_url;
   if (FLAGS_use_right_hand) {
-    hand_url = "package://drake/manipulation/models/"
+    hand_url = "package://drake_models/"
       "allegro_hand_description/sdf/allegro_hand_description_right.sdf";
   } else {
-    hand_url = "package://drake/manipulation/models/"
+    hand_url = "package://drake_models/"
       "allegro_hand_description/sdf/allegro_hand_description_left.sdf";
   }
   multibody::Parser(&plant).AddModelsFromUrl(hand_url);
diff --git a/manipulation/models/allegro_hand_description/test/parse_test.cc b/examples/allegro_hand/test/parse_test.cc
similarity index 79%
rename from manipulation/models/allegro_hand_description/test/parse_test.cc
rename to examples/allegro_hand/test/parse_test.cc
index b2bed3899912..416cc0f528e5 100644
--- a/manipulation/models/allegro_hand_description/test/parse_test.cc
+++ b/examples/allegro_hand/test/parse_test.cc
@@ -19,20 +19,21 @@ class ParseTest : public testing::TestWithParam<std::string> {};
 
 TEST_P(ParseTest, Quantities) {
   const std::string file_extension = GetParam();
-  const std::string path_right = FindResourceOrThrow(
-      fmt::format("drake/manipulation/models/allegro_hand_description/{}/"
+  const std::string url_right =
+      fmt::format("package://drake_models/allegro_hand_description/{}/"
                   "allegro_hand_description_right.{}",
-                  file_extension, file_extension));
-  const std::string path_left = FindResourceOrThrow(
-      fmt::format("drake/manipulation/models/allegro_hand_description/{}/"
+                  file_extension, file_extension);
+  const std::string url_left =
+      fmt::format("package://drake_models/allegro_hand_description/{}/"
                   "allegro_hand_description_left.{}",
-                  file_extension, file_extension));
+                  file_extension, file_extension);
 
   MultibodyPlant<double> plant(0.0);
   Parser parser(&plant);
   const ModelInstanceIndex right_hand_index =
-      parser.AddModels(path_right).at(0);
-  const ModelInstanceIndex left_hand_index = parser.AddModels(path_left).at(0);
+      parser.AddModelsFromUrl(url_right).at(0);
+  const ModelInstanceIndex left_hand_index =
+      parser.AddModelsFromUrl(url_left).at(0);
   plant.Finalize();
 
   // MultibodyPlant always creates at least two model instances, one for the
diff --git a/manipulation/models/BUILD.bazel b/manipulation/models/BUILD.bazel
index 68efb9c4c598..2a63d888423a 100644
--- a/manipulation/models/BUILD.bazel
+++ b/manipulation/models/BUILD.bazel
@@ -5,7 +5,6 @@ install(
     name = "install_data",
     visibility = ["//visibility:public"],
     deps = [
-        "//manipulation/models/allegro_hand_description:install_data",
         "//manipulation/models/franka_description:install_data",
         "//manipulation/models/iiwa_description:install_data",
         "//manipulation/models/jaco_description:install_data",
diff --git a/manipulation/models/allegro_hand_description/BUILD.bazel b/manipulation/models/allegro_hand_description/BUILD.bazel
deleted file mode 100644
index 4c98ae679d27..000000000000
--- a/manipulation/models/allegro_hand_description/BUILD.bazel
+++ /dev/null
@@ -1,65 +0,0 @@
-load(
-    "//tools/skylark:drake_cc.bzl",
-    "drake_cc_googletest",
-)
-load("//tools/skylark:drake_data.bzl", "models_filegroup")
-load("//tools/install:install_data.bzl", "install_data")
-load("//tools/lint:lint.bzl", "add_lint_tests")
-
-package(default_visibility = [":__subpackages__"])
-
-models_filegroup(
-    name = "glob_models",
-    extra_srcs = [
-        "LICENSE.TXT",
-    ],
-)
-
-install_data(
-    name = "install_data",
-    data = [":glob_models"],
-    visibility = ["//visibility:public"],
-)
-
-filegroup(
-    name = "models",
-    srcs = [
-        ":glob_models",
-        "@drake_models//:allegro_hand_description/meshes/allegro.mtl",
-        "@drake_models//:allegro_hand_description/meshes/base_link.obj",
-        "@drake_models//:allegro_hand_description/meshes/base_link_left.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_0.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_1.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_12.0_left.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_12.0_right.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_13.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_14.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_15.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_15.0_tip.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_2.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_3.0.obj",
-        "@drake_models//:allegro_hand_description/meshes/link_3.0_tip.obj",
-    ],
-    visibility = ["//visibility:public"],
-)
-
-# TODO(jwnimmer-tri) Fix Anzu to not need this.
-alias(
-    name = "prod_models",
-    actual = ":models",
-    visibility = ["//visibility:public"],
-)
-
-# === test/ ===
-
-drake_cc_googletest(
-    name = "parse_test",
-    data = [":models"],
-    deps = [
-        "//common:find_resource",
-        "//multibody/parsing",
-        "//multibody/plant",
-    ],
-)
-
-add_lint_tests()
diff --git a/manipulation/models/allegro_hand_description/LICENSE.TXT b/manipulation/models/allegro_hand_description/LICENSE.TXT
deleted file mode 100644
index 962d17b46a1f..000000000000
--- a/manipulation/models/allegro_hand_description/LICENSE.TXT
+++ /dev/null
@@ -1,11 +0,0 @@
-This folder contains a model of the Allegro hand. The files were originally
-taken from
-https://github.com/felixduvallet/allegro-hand-ros/tree/master/allegro_hand_description,SHA c414ffb.
-The original license for these files is BSD, expressed in
-http://wiki.ros.org/allegro_hand_ros
-
-Since obtaining the model files from the above-mentioned source, they were
-substantially modified for use by Drake. For example, the original STL mesh
-files were converted to OBJ files, and various inertia properties, motor
-damping and motor effort values were modified. Our changes are covered by
-Drake's license terms (see LICENSE.TXT in Drake's root folder).
diff --git a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
deleted file mode 100644
index 22b5422564de..000000000000
--- a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
+++ /dev/null
@@ -1,853 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  The file is converted from allegro_hand_description_left.xacro from the
-  unofficial ROS package of Allegro Hand (https://github.com/felixduvallet/
-  allegro-hand-ros/tree/master/allegro_hand_description). The conversion is
-  applied using the ROS package xacro to convert into urdf files, then
-  converted to sdf files. The model files (.obj files and .mtl files) are
-  converted from the .STL files from the same source. The physical parameters
-  of the model in the cited unofficial fork of the Allegro hand have
-  non-physical values. More precisely, many of the inertia matrices are not
-  SPD. Therefore we recomputed all the inertia matrices for this SDF model in
-  Drake. These values are estimated from the provided geometry and using a
-  constant density approximation on each component. We used the best available
-  value of mass available to us. Joint damping values are estimated based on
-  the expected angular velocity of each joint and using a typical load of
-  about 200 gr being held by the hand. This allows us to estimate a typical
-  torque at the joints which, together with a nominal value of angular
-  velocity, allows us to estimate a reasonable magnitude for joint damping. It
-  is worth noting that the unofficial version of these files were providing
-  non-physical values as much as 300 times larger. The effort limits of the
-  joints are justified to 0.7 Nm according to the manufacturer's specs (
-  http://www.simlab.co.kr/Allegro-Hand.htm#Specifications). The collision
-  geometry for link_13 (thumb base) has been omitted in this version. It
-  frequently led to meaningless collisions with other hand geometries but its
-  omission is justified because it is small enough that its removal is
-  unlikely to cause us to miss meaningful collisions.
--->
-<sdf version="1.7">
-  <model name="allegro_hand_left">
-    <link name="hand_root">
-      <inertial>
-        <mass>0.4154</mass>
-        <inertia>
-          <ixx>    2.089e-03</ixx>
-          <ixy>-0.003635e-03</ixy>
-          <ixz>   0.2233e-03</ixz>
-          <iyy>    1.829e-03</iyy>
-          <iyz> -0.01756e-03</iyz>
-          <izz>   0.4825e-03</izz>
-        </inertia>
-      </inertial>
-      <collision name="hand_root_fixed_joint_lump__palm_link_collision">
-        <pose>-0.0093 0 0.0475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0408 0.113 0.095</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="hand_root_fixed_joint_lump__palm_link_visual">
-        <pose>0 0 0.095 -1.5708 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/base_link_left.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <link name="link_8">
-      <pose>0 0.0435 0.093458 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_8_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_8_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_8" type="revolute">
-      <child>link_8</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 -0.087156 -0.996195</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_9">
-      <pose>0 0.044929 0.109796 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_9_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_9_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_9" type="revolute">
-      <child>link_9</child>
-      <parent>link_8</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_10">
-      <pose>0 0.049636 0.16359 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_10_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_10_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_10" type="revolute">
-      <child>link_10</child>
-      <parent>link_9</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_11">
-      <pose>0 0.052983 0.201844 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_11_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_11_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_11_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_11_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_11" type="revolute">
-      <child>link_11</child>
-      <parent>link_10</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_12">
-      <pose>-0.0182 -0.019333 0.049013 -3.14159 -1.48353 -1.5708</pose>
-      <inertial>
-        <mass>0.0176</mass>
-        <inertia>
-          <ixx> 0.8139e-05</ixx>
-          <ixy> 0.2552e-05</ixy>
-          <ixz> 0.3899e-05</ixz>
-          <iyy>  1.314e-05</iyy>
-          <iyz>-0.1463e-05</iyz>
-          <izz>  1.002e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_12_collision">
-        <pose>-0.0179 0.009 0.0145 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0358 0.034 0.0455</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_12_visual">
-        <pose>0 0 0 3.14159 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_12.0_left.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_12" type="revolute">
-      <child>link_12</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">-0 -0.087156 0.996195</xyz>
-        <limit>
-          <lower>0.263</lower>
-          <upper>1.396</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_13">
-      <pose>-0.0132 -0.056728 0.018638 -3.14159 -1.48353 -1.5708</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.926e-06</ixx>
-          <ixy> 0.00305e-06</ixy>
-          <ixz> 0.08866e-06</ixz>
-          <iyy>   1.153e-06</iyy>
-          <iyz>-0.03645e-06</iyz>
-          <izz>   1.496e-06</izz>
-        </inertia>
-      </inertial>
-      <!--
-      <collision name='link_13_collision'>
-        <pose>0 0 0.00885 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0177</size>
-          </box>
-        </geometry>
-      </collision>
-    -->
-      <visual name="link_13_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_13.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_13" type="revolute">
-      <child>link_13</child>
-      <parent>link_12</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.105</lower>
-          <upper>1.163</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_14">
-      <pose>-0.0132 -0.074361 0.017096 -3.14159 -1.48353 -1.5708</pose>
-      <inertial>
-        <mass>0.038</mass>
-        <inertia>
-          <ixx>  3.670e-05</ixx>
-          <ixy> 0.0001e-05</ixy>
-          <ixz>0.01485e-05</ixz>
-          <iyy>  3.540e-05</iyy>
-          <iyz>-0.0037e-05</iyz>
-          <izz> 0.3633e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_14_collision">
-        <pose>0 0 0.0257 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0514</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_14_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_14.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_14" type="revolute">
-      <child>link_14</child>
-      <parent>link_13</parent>
-      <axis>
-        <xyz expressed_in="__model__">-1 0 -0</xyz>
-        <limit>
-          <lower>-0.189</lower>
-          <upper>1.644</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_15">
-      <pose>-0.0132 -0.125565 0.012616 -3.14159 -1.48353 -1.5708</pose>
-      <inertial>
-        <pose>0 0 0.012781 0 0 0</pose>
-        <mass>0.0556</mass>
-        <inertia>
-          <ixx>  7.054e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  6.564e-05</iyy>
-          <iyz>-0.0033e-05</iyz>
-          <izz>  1.954e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_15_collision">
-        <pose>0 0 0.02115 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0423</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_15_tip_collision_1">
-        <pose>0 0 0.0423 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_15_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_15.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_15_tip_visual_1">
-        <pose>0 0 0.0423 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_15.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_15" type="revolute">
-      <child>link_15</child>
-      <parent>link_14</parent>
-      <axis>
-        <xyz expressed_in="__model__">-1 0 -0</xyz>
-        <limit>
-          <lower>-0.162</lower>
-          <upper>1.719</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_4">
-      <pose>0 0 0.0957 0 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_4_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_4_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_4" type="revolute">
-      <child>link_4</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0 -1</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_5">
-      <pose>0 0 0.1121 0 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_5_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_5_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_5" type="revolute">
-      <child>link_5</child>
-      <parent>link_4</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_6">
-      <pose>0 0 0.1661 0 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_6_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_6_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_6" type="revolute">
-      <child>link_6</child>
-      <parent>link_5</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_7">
-      <pose>0 0 0.2045 0 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_7_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_7_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_7_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_7_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_7" type="revolute">
-      <child>link_7</child>
-      <parent>link_6</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_0">
-      <pose>0 -0.0435 0.093458 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_0_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_0_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_0" type="revolute">
-      <child>link_0</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.087156 -0.996195</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_1">
-      <pose>0 -0.044929 0.109796 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_1_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_1_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_1" type="revolute">
-      <child>link_1</child>
-      <parent>link_0</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_2">
-      <pose>0 -0.049636 0.16359 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_2_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_2_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_2" type="revolute">
-      <child>link_2</child>
-      <parent>link_1</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_3">
-      <pose>0 -0.052983 0.201844 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_3_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_3_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_3_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_3_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_3" type="revolute">
-      <child>link_3</child>
-      <parent>link_2</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-  </model>
-</sdf>
diff --git a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
deleted file mode 100644
index 264bc87f9425..000000000000
--- a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
+++ /dev/null
@@ -1,852 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  The file is converted from allegro_hand_description_right.xacro from the
-  unofficial ROS package of Allegro Hand (https://github.com/felixduvallet/
-  allegro-hand-ros/tree/master/allegro_hand_description). The conversion is
-  applied using the ROS package xacro to convert into urdf files, then
-  converted to sdf files. The model files (.obj files and .mtl files) are
-  converted from the .STL files from the same source. The physical parameters
-  of the model in the cited unofficial fork of the Allegro hand have
-  non-physical values. More precisely, many of the inertia matrices are not
-  SPD. Therefore we recomputed all the inertia matrices for this SDF model in
-  Drake. These values are estimated from the provided geometry and using a
-  constant density approximation on each component. We used the best available
-  value of mass available to us. Joint damping values are estimated based on
-  the expected angular velocity of each joint and using a typical load of
-  about 200 gr being held by the hand. This allows us to estimate a typical
-  torque at the joints which, together with a nominal value of angular
-  velocity, allows us to estimate a reasonable magnitude for joint damping. It
-  is worth noting that the unofficial version of these files were providing
-  non-physical values as much as 300 times larger. The effort limits of the
-  joints are justified to 0.7 Nm according to the manufacturer's specs (
-  http://www.simlab.co.kr/Allegro-Hand.htm#Specifications). The collision
-  geometry for link_13 (thumb base) has been omitted in this version. It
-  frequently led to meaningless collisions with other hand geometries but its
-  omission is justified because it is small enough that its removal is
-  unlikely to cause us to miss meaningful collisions.
--->
-<sdf version="1.7">
-  <model name="allegro_hand_right">
-    <link name="hand_root">
-      <inertial>
-        <mass>0.4154</mass>
-        <inertia>
-          <ixx>    2.089e-03</ixx>
-          <ixy>-0.003635e-03</ixy>
-          <ixz>   0.2233e-03</ixz>
-          <iyy>    1.829e-03</iyy>
-          <iyz> -0.01756e-03</iyz>
-          <izz>   0.4825e-03</izz>
-        </inertia>
-      </inertial>
-      <collision name="hand_root_fixed_joint_lump__palm_link_collision">
-        <pose>-0.0093 0 0.0475 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0408 0.113 0.095</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="hand_root_fixed_joint_lump__palm_link_visual">
-        <pose>0 0 0.095 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/base_link.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <link name="link_0">
-      <pose>0 0.0435 0.093458 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_0_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_0_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_0" type="revolute">
-      <child>link_0</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.087156 0.996195</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_1">
-      <pose>0 0.044929 0.109796 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_1_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_1_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_1" type="revolute">
-      <child>link_1</child>
-      <parent>link_0</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_2">
-      <pose>0 0.049636 0.16359 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_2_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_2_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_2" type="revolute">
-      <child>link_2</child>
-      <parent>link_1</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_3">
-      <pose>0 0.052983 0.201844 -0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_3_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_3_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_3_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_3_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_3" type="revolute">
-      <child>link_3</child>
-      <parent>link_2</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_12">
-      <pose>-0.0182 0.019333 0.049013 3.14159 -1.48353 1.5708</pose>
-      <inertial>
-        <mass>0.0176</mass>
-        <inertia>
-          <ixx> 0.8139e-05</ixx>
-          <ixy> 0.2552e-05</ixy>
-          <ixz> 0.3899e-05</ixz>
-          <iyy>  1.314e-05</iyy>
-          <iyz>-0.1463e-05</iyz>
-          <izz>  1.002e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_12_collision">
-        <pose>-0.0179 0.009 0.0145 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0358 0.034 0.0455</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_12_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_12.0_right.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_12" type="revolute">
-      <child>link_12</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 -0.087156 -0.996195</xyz>
-        <limit>
-          <lower>0.263</lower>
-          <upper>1.396</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_13">
-      <pose>-0.0132 0.056728 0.018638 3.14159 -1.48353 1.5708</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.926e-06</ixx>
-          <ixy> 0.00305e-06</ixy>
-          <ixz> 0.08866e-06</ixz>
-          <iyy>   1.153e-06</iyy>
-          <iyz>-0.03645e-06</iyz>
-          <izz>   1.496e-06</izz>
-        </inertia>
-      </inertial>
-      <!--
-      <collision name='link_13_collision'>
-        <pose>0 0 0.00885 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0177</size>
-          </box>
-        </geometry>
-      </collision>  
-    -->
-      <visual name="link_13_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_13.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_13" type="revolute">
-      <child>link_13</child>
-      <parent>link_12</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 -0.087156</xyz>
-        <limit>
-          <lower>-0.105</lower>
-          <upper>1.163</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_14">
-      <pose>-0.0132 0.074361 0.017096 3.14159 -1.48353 1.5708</pose>
-      <inertial>
-        <mass>0.038</mass>
-        <inertia>
-          <ixx>  3.670e-05</ixx>
-          <ixy> 0.0001e-05</ixy>
-          <ixz>0.01485e-05</ixz>
-          <iyy>  3.540e-05</iyy>
-          <iyz>-0.0037e-05</iyz>
-          <izz> 0.3633e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_14_collision">
-        <pose>0 0 0.0257 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0514</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_14_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_14.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_14" type="revolute">
-      <child>link_14</child>
-      <parent>link_13</parent>
-      <axis>
-        <xyz expressed_in="__model__">1 0 0</xyz>
-        <limit>
-          <lower>-0.189</lower>
-          <upper>1.644</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_15">
-      <pose>-0.0132 0.125565 0.012616 3.14159 -1.48353 1.5708</pose>
-      <inertial>
-        <pose>0 0 0.012781 0 0 0</pose>
-        <mass>0.0556</mass>
-        <inertia>
-          <ixx>  7.054e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  6.564e-05</iyy>
-          <iyz>-0.0033e-05</iyz>
-          <izz>  1.954e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_15_collision">
-        <pose>0 0 0.02115 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0423</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_15_tip_collision_1">
-        <pose>0 0 0.0423 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_15_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_15.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_15_tip_visual_1">
-        <pose>0 0 0.0423 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_15.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_15" type="revolute">
-      <child>link_15</child>
-      <parent>link_14</parent>
-      <axis>
-        <xyz expressed_in="__model__">1 0 0</xyz>
-        <limit>
-          <lower>-0.162</lower>
-          <upper>1.719</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_4">
-      <pose>0 0 0.0957 0 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_4_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_4_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_4" type="revolute">
-      <child>link_4</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0 1</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_5">
-      <pose>0 0 0.1121 0 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_5_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_5_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_5" type="revolute">
-      <child>link_5</child>
-      <parent>link_4</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_6">
-      <pose>0 0 0.1661 0 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_6_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_6_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_6" type="revolute">
-      <child>link_6</child>
-      <parent>link_5</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_7">
-      <pose>0 0 0.2045 0 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_7_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_7_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_7_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_7_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_7" type="revolute">
-      <child>link_7</child>
-      <parent>link_6</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 1 0</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_8">
-      <pose>0 -0.0435 0.093458 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0119</mass>
-        <inertia>
-          <ixx>   1.954e-06</ixx>
-          <ixy>0.003034e-06</ixy>
-          <ixz> 0.08923e-06</ixz>
-          <iyy>   1.179e-06</iyy>
-          <iyz>-0.03707e-06</iyz>
-          <izz>   1.497e-06</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_8_collision">
-        <pose>0 0 0.0082 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0164</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_8_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_0.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_8" type="revolute">
-      <child>link_8</child>
-      <parent>hand_root</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 -0.087156 0.996195</xyz>
-        <limit>
-          <lower>-0.47</lower>
-          <upper>0.47</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_9">
-      <pose>0 -0.044929 0.109796 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.065</mass>
-        <inertia>
-          <ixx>  7.192e-05</ixx>
-          <ixy>          0</ixy>
-          <ixz>          0</ixz>
-          <iyy>  7.438e-05</iyy>
-          <iyz>0.07322e-05</iyz>
-          <izz> 0.5406e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_9_collision">
-        <pose>0 0 0.027 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.054</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_9_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_1.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_9" type="revolute">
-      <child>link_9</child>
-      <parent>link_8</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.196</lower>
-          <upper>1.61</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_10">
-      <pose>0 -0.049636 0.16359 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0355</mass>
-        <inertia>
-          <ixx>     3.169e-05</ixx>
-          <ixy> 0.0001071e-05</ixy>
-          <ixz>-0.0004913e-05</ixz>
-          <iyy>     3.105e-05</iyy>
-          <iyz>  0.003875e-05</iyz>
-          <izz>    0.3203e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_10_collision">
-        <pose>0 0 0.0192 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0384</size>
-          </box>
-        </geometry>
-      </collision>
-      <visual name="link_10_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_2.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_10" type="revolute">
-      <child>link_10</child>
-      <parent>link_9</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.174</lower>
-          <upper>1.709</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="link_11">
-      <pose>0 -0.052983 0.201844 0.087267 0 0</pose>
-      <inertial>
-        <mass>0.0264</mass>
-        <inertia>
-          <ixx>   1.263e-05</ixx>
-          <ixy> 0.00021e-05</ixy>
-          <ixz>-0.00098e-05</ixz>
-          <iyy>   1.182e-05</iyy>
-          <iyz> -0.0013e-05</iyz>
-          <izz>  0.2484e-05</izz>
-        </inertia>
-      </inertial>
-      <collision name="link_11_collision">
-        <pose>0 0 0.01335 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.0196 0.0275 0.0267</size>
-          </box>
-        </geometry>
-      </collision>
-      <collision name="link_11_tip_collision_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <sphere>
-            <radius>0.012</radius>
-          </sphere>
-        </geometry>
-      </collision>
-      <visual name="link_11_visual">
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="link_11_tip_visual_1">
-        <pose>0 0 0.0267 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-    <joint name="joint_11" type="revolute">
-      <child>link_11</child>
-      <parent>link_10</parent>
-      <axis>
-        <xyz expressed_in="__model__">0 0.996195 0.087156</xyz>
-        <limit>
-          <lower>-0.227</lower>
-          <upper>1.618</upper>
-          <effort>0.7</effort>
-        </limit>
-        <dynamics>
-          <damping>1.5e-2</damping>
-        </dynamics>
-      </axis>
-    </joint>
-  </model>
-</sdf>
diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
deleted file mode 100644
index e75fd51cadce..000000000000
--- a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
+++ /dev/null
@@ -1,716 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  The file is converted from allegro_hand_description_left.xacro from the
-  unofficial ROS package of Allegro Hand (https://github.com/felixduvallet/
-  allegro-hand-ros/tree/master/allegro_hand_description). The conversion is
-  applied using the ROS package xacro to convert into urdf files. The model
-  files (.obj files and .mtl files) are converted from the .STL files from the
-  same source. The physical parameters of the model in the cited unofficial
-  fork of the Allegro hand have non-physical values. More precisely, many of
-  the inertia matrices are not SPD. Therefore we recomputed all the inertia
-  matrices for this URDF model in Drake. These values are estimated from the
-  provided geometry and using a constant density approximation on each
-  component. We used the best available value of mass available to us. Joint
-  damping values are estimated based on the expected angular velocity of each
-  joint and using a typical load of about 200 gr being held by the hand. This
-  allows us to estimate a typical torque at the joints which, together with a
-  nominal value of angular velocity, allows us to estimate a reasonable
-  magnitude for joint damping. It is worth noting that the unofficial version
-  of these files were providing non-physical values as much as 300 times
-  larger. The effort limits of the joints are justified to 0.7 Nm according to
-  the manufacturer's specs (http://www.simlab.co.kr/Allegro-Hand.htm#
-  Specifications). The collision geometry for link_13 (thumb base) has been
-  omitted in this version. It frequently led to meaningless collisions with
-  other hand geometries but its omission is justified because it is small
-  enough that its removal is unlikely to cause us to miss meaningful
-  collisions.
--->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_left">
-  <!-- Base link -->
-  <link name="hand_root">
-  </link>
-  <joint name="root_to_base" type="fixed">
-    <parent link="hand_root"/>
-    <child link="palm_link"/>
-    <origin xyz="0 0 0.095"/>
-  </joint>
-  <!-- PALM -->
-  <link name="palm_link">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/base_link_left.obj"/>
-      </geometry>
-      <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
-      <material name="black">
-        <color rgba="0.2 0.2 0.2 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>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.4154"/>
-      <inertia ixx="2.089e-03" ixy="-0.0036e-03" ixz="0.2233e-03" iyy="1.829e-03" iyz="-0.018e-03" izz="0.4825e-03"/>
-    </inertial>
-  </link>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_8">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_8" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_8"/>
-    <origin rpy="0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_8_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_8_motor"/>
-    <joint name="joint_8"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_9">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.192e-05" ixy="0" ixz="0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_9" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_8"/>
-    <child link="link_9"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_9_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_9_motor"/>
-    <joint name="joint_9"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_10">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_10" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_9"/>
-    <child link="link_10"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_10_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_10_motor"/>
-    <joint name="joint_10"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_11">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_11" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_10"/>
-    <child link="link_11"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_11_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_11_motor"/>
-    <joint name="joint_11"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_11_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_11_tip" type="fixed">
-    <parent link="link_11"/>
-    <child link="link_11_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_4">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_4" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort="0.7" 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"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_4_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_4_motor"/>
-    <joint name="joint_4"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_5">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_5" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_5_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_5_motor"/>
-    <joint name="joint_5"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_6">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_6" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_6_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_6_motor"/>
-    <joint name="joint_6"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_7">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_7" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_6"/>
-    <child link="link_7"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_7_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_7_motor"/>
-    <joint name="joint_7"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_7_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_7_tip" type="fixed">
-    <parent link="link_7"/>
-    <child link="link_7_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_0">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_0" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_0"/>
-    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_0_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_0_motor"/>
-    <joint name="joint_0"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_1">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_1" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_0"/>
-    <child link="link_1"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_1_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_1_motor"/>
-    <joint name="joint_1"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_2">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_2" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_2_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_2_motor"/>
-    <joint name="joint_2"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_3">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_3" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_3_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_3_motor"/>
-    <joint name="joint_3"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_3_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_3_tip" type="fixed">
-    <parent link="link_3"/>
-    <child link="link_3_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 12] -->
-  <link name="link_12">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_12.0_left.obj"/>
-      </geometry>
-      <material name="black">
-        <color rgba=".2 .2 .2 1"/>
-      </material>
-      <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
-    </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="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05"/>
-    </inertial>
-  </link>
-  <joint name="joint_12" type="revolute">
-    <axis xyz="1 0 0"/>
-    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_12"/>
-    <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_12_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_12_motor"/>
-    <joint name="joint_12"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 13] -->
-  <link name="link_13">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_13.0.obj"/>
-      </geometry>
-      <material name="black">
-        <color rgba=".2 .2 .2 1"/>
-      </material>
-    </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_13" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7"/>
-    <parent link="link_12"/>
-    <child link="link_13"/>
-    <origin xyz="-0.027 -0.005 0.0399"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_13_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_13_motor"/>
-    <joint name="joint_13"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 14] -->
-  <link name="link_14">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_14.0.obj"/>
-      </geometry>
-      <material name="black">
-                </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0514"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
-    </collision>
-    <inertial>
-      <mass value="0.038"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_14" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7"/>
-    <parent link="link_13"/>
-    <child link="link_14"/>
-    <origin xyz="0 0 0.0177"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_14_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_14_motor"/>
-    <joint name="joint_14"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 15] -->
-  <link name="link_15">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_15.0.obj"/>
-      </geometry>
-      <material name="black">
-                </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0423"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
-    </collision>
-    <inertial>
-      <mass value="0.0388"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
-    </inertial>
-  </link>
-  <joint name="joint_15" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7"/>
-    <parent link="link_14"/>
-    <child link="link_15"/>
-    <origin xyz="0 0 0.0514"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_15_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_15_motor"/>
-    <joint name="joint_15"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_15_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_15.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_15_tip" type="fixed">
-    <parent link="link_15"/>
-    <child link="link_15_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
-  </joint>
-</robot>
diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
deleted file mode 100644
index c0533f28de3b..000000000000
--- a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
+++ /dev/null
@@ -1,716 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  The file is converted from allegro_hand_description_right.xacro from the
-  unofficial ROS package of Allegro Hand (https://github.com/felixduvallet/
-  allegro-hand-ros/tree/master/allegro_hand_description). The conversion is
-  applied using the ROS package xacro to convert into urdf files. The model
-  files (.obj files and .mtl files) are converted from the .STL files from the
-  same source. The physical parameters of the model in the cited unofficial
-  fork of the Allegro hand have non-physical values. More precisely, many of
-  the inertia matrices are not SPD. Therefore we recomputed all the inertia
-  matrices for this URDF model in Drake. These values are estimated from the
-  provided geometry and using a constant density approximation on each
-  component. We used the best available value of mass available to us. Joint
-  damping values are estimated based on the expected angular velocity of each
-  joint and using a typical load of about 200 gr being held by the hand. This
-  allows us to estimate a typical torque at the joints which, together with a
-  nominal value of angular velocity, allows us to estimate a reasonable
-  magnitude for joint damping. It is worth noting that the unofficial version
-  of these files were providing non-physical values as much as 300 times
-  larger. The effort limits of the joints are justified to 0.7 Nm according to
-  the manufacturer's specs (http://www.simlab.co.kr/Allegro-Hand.htm#
-  Specifications). The collision geometry for link_13 (thumb base) has been
-  omitted in this version. It frequently led to meaningless collisions with
-  other hand geometries but its omission is justified because it is small
-  enough that its removal is unlikely to cause us to miss meaningful
-  collisions.
--->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="allegro_hand_right">
-  <!-- Base link -->
-  <link name="hand_root">
-  </link>
-  <joint name="root_to_base" type="fixed">
-    <parent link="hand_root"/>
-    <child link="palm_link"/>
-    <origin xyz="0 0 0.095"/>
-  </joint>
-  <!-- PALM -->
-  <link name="palm_link">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/base_link.obj"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0 "/>
-      <material name="black">
-        <color rgba="0.2 0.2 0.2 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>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.4154"/>
-      <inertia ixx="0.00208916" ixy="-3.63457e-06" ixz="0.000223277" iyy="0.00182848" iyz="-1.75634e-05" izz="0.000482459"/>
-    </inertial>
-  </link>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_0">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_0" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_0"/>
-    <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_0_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_0_motor"/>
-    <joint name="joint_0"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_1">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_1" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_0"/>
-    <child link="link_1"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_1_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_1_motor"/>
-    <joint name="joint_1"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_2">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_2" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_2_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_2_motor"/>
-    <joint name="joint_2"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_3">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_3" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_3_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_3_motor"/>
-    <joint name="joint_3"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_3_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_3_tip" type="fixed">
-    <parent link="link_3"/>
-    <child link="link_3_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_4">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_4" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort="0.7" 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"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_4_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_4_motor"/>
-    <joint name="joint_4"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_5">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_5" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_5_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_5_motor"/>
-    <joint name="joint_5"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_6">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_6" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_6_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_6_motor"/>
-    <joint name="joint_6"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_7">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_7" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_6"/>
-    <child link="link_7"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_7_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_7_motor"/>
-    <joint name="joint_7"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_7_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_7_tip" type="fixed">
-    <parent link="link_7"/>
-    <child link="link_7_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 0, 4, 8] -->
-  <link name="link_8">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_0.0.obj"/>
-      </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_8" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort="0.7" lower="-0.47" upper="0.47" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_8"/>
-    <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_8_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_8_motor"/>
-    <joint name="joint_8"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 1, 5, 9] -->
-  <link name="link_9">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_1.0.obj"/>
-      </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>
-    <inertial>
-      <mass value="0.065"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="7.19218e-05" ixy="0" ixz="0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_9" type="revolute">
-    <limit effort="0.7" lower="-0.196" upper="1.61" velocity="7"/>
-    <axis xyz="0 1 0"/>
-    <parent link="link_8"/>
-    <child link="link_9"/>
-    <origin xyz="0 0 0.0164"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_9_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_9_motor"/>
-    <joint name="joint_9"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 2, 6, 10]-->
-  <link name="link_10">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_2.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0384"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0192"/>
-    </collision>
-    <inertial>
-      <mass value="0.0355"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_10" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.174" upper="1.709" velocity="7"/>
-    <parent link="link_9"/>
-    <child link="link_10"/>
-    <origin xyz="0 0 0.054"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_10_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_10_motor"/>
-    <joint name="joint_10"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 3, 7, 11] -->
-  <link name="link_11">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0.obj"/>
-      </geometry>
-      <material name="black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0267"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.01335"/>
-    </collision>
-    <inertial>
-      <mass value="0.0096"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_11" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.227" upper="1.618" velocity="7"/>
-    <parent link="link_10"/>
-    <child link="link_11"/>
-    <origin xyz="0 0 0.0384"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_11_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_11_motor"/>
-    <joint name="joint_11"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_11_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_3.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_11_tip" type="fixed">
-    <parent link="link_11"/>
-    <child link="link_11_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0267"/>
-  </joint>
-  <!-- [LINK 12] -->
-  <link name="link_12">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_12.0_right.obj"/>
-      </geometry>
-      <material name="black">
-        <color rgba=".2 .2 .2 1"/>
-      </material>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </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="8.13883e-06" ixy="2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="-1.46267e-06" izz="1.00171e-05"/>
-    </inertial>
-  </link>
-  <joint name="joint_12" type="revolute">
-    <axis xyz="-1 0 0"/>
-    <limit effort="0.7" lower="0.263" upper="1.396" velocity="7"/>
-    <parent link="palm_link"/>
-    <child link="link_12"/>
-    <origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_12_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_12_motor"/>
-    <joint name="joint_12"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 13] -->
-  <link name="link_13">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_13.0.obj"/>
-      </geometry>
-      <material name="black">
-        <color rgba=".2 .2 .2 1"/>
-      </material>
-    </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="0.0119"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_13" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort="0.7" lower="-0.105" upper="1.163" velocity="7"/>
-    <parent link="link_12"/>
-    <child link="link_13"/>
-    <origin xyz="-0.027 0.005 0.0399"/>
-    <dynamics damping="1.5e-2" friction="5"/>
-  </joint>
-  <transmission name="joint_13_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_13_motor"/>
-    <joint name="joint_13"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 14] -->
-  <link name="link_14">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_14.0.obj"/>
-      </geometry>
-      <material name="black">
-                </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0514"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.0257"/>
-    </collision>
-    <inertial>
-      <mass value="0.038"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_14" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.189" upper="1.644" velocity="7"/>
-    <parent link="link_13"/>
-    <child link="link_14"/>
-    <origin xyz="0 0 0.0177"/>
-    <dynamics damping="1.5e-2" friction="10"/>
-  </joint>
-  <transmission name="joint_14_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_14_motor"/>
-    <joint name="joint_14"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [LINK 15] -->
-  <link name="link_15">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_15.0.obj"/>
-      </geometry>
-      <material name="black">
-                </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.0196 0.0275 0.0423"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0.02115"/>
-    </collision>
-    <inertial>
-      <mass value="0.0388"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="4.30919e-05" ixy="0" ixz="0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05"/>
-    </inertial>
-  </link>
-  <joint name="joint_15" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit effort="0.7" lower="-0.162" upper="1.719" velocity="7"/>
-    <parent link="link_14"/>
-    <child link="link_15"/>
-    <origin xyz="0 0 0.0514"/>
-    <dynamics damping="1.5e-2" friction="12"/>
-  </joint>
-  <transmission name="joint_15_trans" type="transmission_interface/SimpleTransmission">
-    <actuator name="joint_15_motor"/>
-    <joint name="joint_15"/>
-    <mechanicalReduction>1</mechanicalReduction>
-    <motorTorqueConstant>1</motorTorqueConstant>
-  </transmission>
-  <!-- [FINGER TIP] -->
-  <link name="link_15_tip">
-    <visual>
-      <geometry>
-        <mesh filename="package://drake_models/allegro_hand_description/meshes/link_15.0_tip.obj"/>
-      </geometry>
-      <material name="white">
-        <color rgba=".9 .9 .9 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <sphere radius="0.012"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.0168"/>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <inertia ixx="1.19599e-05" ixy="0" ixz="0" iyy="1.19598e-05" iyz="0" izz="1.10345e-06"/>
-    </inertial>
-  </link>
-  <joint name="joint_15_tip" type="fixed">
-    <parent link="link_15"/>
-    <child link="link_15_tip"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0423"/>
-  </joint>
-</robot>
diff --git a/tools/workspace/drake_models/repository.bzl b/tools/workspace/drake_models/repository.bzl
index 196b87daa63c..54ee2667f9bc 100644
--- a/tools/workspace/drake_models/repository.bzl
+++ b/tools/workspace/drake_models/repository.bzl
@@ -6,8 +6,8 @@ def drake_models_repository(
     github_archive(
         name = name,
         repository = "RobotLocomotion/models",
-        commit = "9b274a2570ddefc4140e4b98bcf248003289b870",
-        sha256 = "214bf8a757cacea053ed04e666681e34df2e550c5b95df3a6ca8f151a6b550bd",  # noqa
+        commit = "199f3e5a8c868ed459f05e73e5eee65da843ffdd",
+        sha256 = "c09e320a42d7ce6db2e1f622898726c5853db5ee0faf23715f9d3c2274a53ac7",  # noqa
         build_file = ":package.BUILD.bazel",
         mirrors = mirrors,
     )
diff --git a/tools/workspace/drake_models/test/parse_test.py b/tools/workspace/drake_models/test/parse_test.py
index 847220b8dc2a..93ae3e402afb 100644
--- a/tools/workspace/drake_models/test/parse_test.py
+++ b/tools/workspace/drake_models/test/parse_test.py
@@ -62,6 +62,11 @@ def test_all_models(self):
             "package://drake_models/atlas/atlas_minimal_contact.urdf",
             "package://drake_models/atlas/robotiq.urdf",
             "package://drake_models/atlas/robotiq_simple.urdf",
+            # We don't have any tracking issue for fixing the allegro models,
+            # because we don't use them for anything we care about. If someone
+            # wants to fix the warnings, be our guest.
+            "package://drake_models/allegro_hand_description/urdf/allegro_hand_description_left.urdf",  # noqa
+            "package://drake_models/allegro_hand_description/urdf/allegro_hand_description_right.urdf",  # noqa
         ]
         self.assertFalse(set(models_with_warnings) - set(all_models))