diff --git a/src/picknik_ur_mujoco_config/description/picknik_ur.xacro b/src/picknik_ur_mujoco_config/description/picknik_ur.xacro
index de03a457..ca3c56dd 100644
--- a/src/picknik_ur_mujoco_config/description/picknik_ur.xacro
+++ b/src/picknik_ur_mujoco_config/description/picknik_ur.xacro
@@ -530,7 +530,7 @@
-
+
-
+
+
+
+
+
+
+
+
@@ -727,7 +734,7 @@
-
+
@@ -877,6 +884,42 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -887,7 +930,7 @@
-
+
diff --git a/src/picknik_ur_mujoco_config/description/scene.xml b/src/picknik_ur_mujoco_config/description/scene.xml
index 1d2da458..dc0a1664 100644
--- a/src/picknik_ur_mujoco_config/description/scene.xml
+++ b/src/picknik_ur_mujoco_config/description/scene.xml
@@ -41,9 +41,9 @@
-
+
-
+
@@ -74,9 +74,9 @@
-
-
+
+
-
-
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+