diff_robot_data/allegro/urdf/allegro_hand_description_left.urdf
diff_robot_data/kuka_iiwa/urdf/iiwa7_allegro.urdf

diff_robot_data/allegro/urdf/allegro_hand_description_left_small_damping.urdf
diff_robot_data/kuka_iiwa/urdf/iiwa7_allegro.urdf