diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
index 02d24f13..44c256fc 100644
--- a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -34,6 +34,7 @@
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.transmission.xacro" />
+  <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/f_distal_mstXL.urdf.xacro" />
 
   <xacro:macro name="distal" params="prefix:=^ link_prefix:=^ joint_prefix:=^ tip_sensor:=^|pst parent">
     <link name="${prefix}${link_prefix}distal">
@@ -56,6 +57,10 @@
           <xacro:if value="${tip_sensor == 'bt_2p'}">
             <mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
           </xacro:if>
+          <xacro:if value="${tip_sensor == 'mst'}">
+            <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae"
+                scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </visual>
       <collision>
@@ -72,6 +77,10 @@
           <xacro:if value="${tip_sensor == 'bt_2p'}">
             <mesh filename="package://sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae" />
           </xacro:if>
+          <xacro:if value="${tip_sensor == 'mst'}">
+            <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae"
+                scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </collision>
     </link>
@@ -100,6 +109,10 @@
         <child link="${prefix}${link_prefix}tip" />
         <origin xyz="0 0 0.026" rpy="0 0 0" />
       </joint>
+      <!-- For mst we add a link for every taxel in the sensor -->
+      <xacro:if value="${tip_sensor == 'mst'}">
+        <xacro:f_mstXL_distal prefix="${prefix}" link_prefix="${link_prefix}" parent="${prefix}${link_prefix}distal" scale="0.001" show_mesh="false"/>
+      </xacro:if>
     </xacro:unless>
     <!-- extensions -->
     <xacro:distal_gazebo />
diff --git a/sr_description/hand/xacro/finger/distal/f_distal_mst.urdf.xacro b/sr_description/hand/xacro/finger/distal/f_distal_mst.urdf.xacro
new file mode 100644
index 00000000..5e151f00
--- /dev/null
+++ b/sr_description/hand/xacro/finger/distal/f_distal_mst.urdf.xacro
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider">
+
+  <xacro:macro name="f_mst_distal" params="prefix:=^ link_prefix:=^ show_mesh:='true' parent scale">
+
+    <xacro:if value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:if>
+    <xacro:unless value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link"/>
+    </xacro:unless >
+
+    <joint name="${parent}_to_mst_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}${link_prefix}_mst_link"/>
+        <origin xyz="0.0 0.0 0.0" rpy= "0 0 0"/>
+    </joint>
+
+    <!-- Note that all the following transforms were obtained using the script `get_taxel_tfs_from_meshes,py`
+        Using the material available in the folders `meshes/f_distal` and `meshes/mst_distal_isolated_magnets -->
+    <link name="${prefix}${link_prefix}_taxel_0"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_0" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_0"/>
+        <origin xyz="${-8.22369229 * scale} ${0.84174718 * scale} ${20.3442993 * scale}" rpy= "-1.51862592 1.13933997e-04 1.48712643"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_1"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_1" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_1"/>
+        <origin xyz="${-5.75946224 * scale} ${-5.74478036 * scale} ${18.26051107 * scale}" rpy= "-1.58159180 -6.71731790e-05 2.42690513"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_2"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_2" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_2"/>
+        <origin xyz="${-5.91417873 * scale} ${-5.05409658 * scale} ${12.45321528 * scale}" rpy= "-1.66280129 -0.00608772 2.53902695"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_3"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_3" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_3"/>
+        <origin xyz="${-8.43282687 * scale} ${0.96216651 * scale} ${14.59734701 * scale}" rpy= "-1.54753275 3.24240971e-05 1.45149574"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_4"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_4" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_4"/>
+        <origin xyz="${-7.68203635 * scale} ${0.79578526 * scale} ${26.17632124 * scale}" rpy= "-1.28919069 5.30530704e-04 1.55692896"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_5"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_5" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_5"/>
+        <origin xyz="${5.28688373 * scale} ${-4.7369722 * scale} ${24.58590617 * scale}" rpy= "-1.22082488 0.07610618 -2.50029183"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_6"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_6" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_6"/>
+        <origin xyz="${7.69449197 * scale} ${0.89903445 * scale} ${26.12600604 * scale}" rpy= "-1.29276648 -5.26946556e-04 -1.55667717"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_7"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_7" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_7"/>
+        <origin xyz="${5.91165379 * scale} ${-5.61714876 * scale} ${18.49465235 * scale}" rpy= "-1.58492524 1.13661172e-04 -2.42121505"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_8"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_8" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_8"/>
+        <origin xyz="${0.06615032 * scale} ${-6.97387709 * scale} ${14.19480607 * scale}" rpy= "-1.67282547  0.00461393 -3.13249173"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_9"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_9" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_9"/>
+        <origin xyz="${-5.21115165 * scale} ${-4.91576955 * scale} ${24.30155729 * scale}" rpy= "-1.2222802 -0.07513634 2.49780854"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_10"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_10" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_10"/>
+        <origin xyz="${8.45986565 * scale} ${0.861049 * scale} ${14.10763345 * scale}" rpy= "-1.54518020 -3.92924667e-05 -1.45153757"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_11"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_11" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_11"/>
+        <origin xyz="${3.52164954 * scale} ${0.27197527 * scale} ${31.00432791 * scale}" rpy= "-0.46373384 0.09408412 -1.76080055"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_12"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_12" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_12"/>
+        <origin xyz="${0.17250826 * scale}  ${-4.23989717 * scale} ${28.40559919 * scale}" rpy= "-0.93063656 -0.00320981 -3.10503702"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_13"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_13" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_13"/>
+        <origin xyz="${-3.39317188 * scale} ${0.23408706 * scale} ${31.05830392 * scale}" rpy= "0.41240032  0.23752961 -1.68863204"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_14"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_14" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_14"/>
+        <origin xyz="${5.9497192 * scale} ${-4.99959925 * scale} ${12.14818119 * scale}" rpy= "-1.65696888  0.00512781 -2.51910844"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_15"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_15" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_15"/>
+        <origin xyz="${8.20404914 * scale} ${0.95723053 * scale} ${20.61497581 * scale}" rpy= "-1.52151750 -1.01807273e-04 -1.48702812"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_16"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_16" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_16"/>
+        <origin xyz="${0.12306373 * scale} ${-6.9757752 * scale} ${22.23037729 * scale}" rpy= "-1.37224849 0.00649497 -3.11547381"/>
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/sr_description/hand/xacro/finger/distal/f_distal_mstXL.urdf.xacro b/sr_description/hand/xacro/finger/distal/f_distal_mstXL.urdf.xacro
new file mode 100644
index 00000000..137318b3
--- /dev/null
+++ b/sr_description/hand/xacro/finger/distal/f_distal_mstXL.urdf.xacro
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider">
+
+  <xacro:macro name="f_mstXL_distal" params="prefix:=^ link_prefix:=^ show_mesh:='true' parent scale">
+
+    <xacro:if value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:if>
+    <xacro:unless value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link"/>
+    </xacro:unless >
+
+    <joint name="${parent}_to_mst_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}${link_prefix}_mst_link"/>
+        <origin xyz="0.0 0.0 0.0" rpy= "0 0 0"/>
+    </joint>
+
+    <!-- Note that all the following transforms were obtained using the script `get_taxel_tfs_from_meshes,py`
+        Using the material available in the folders `meshes/f_distal_XL` and `meshes/mstXL_distal_isolated_magnets -->
+    <link name="${prefix}${link_prefix}_taxel_0"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_0" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_0"/>
+        <origin xyz="${-9.21687001 * scale} ${0.99373239 * scale} ${20.38228873 * scale}" rpy= "-1.51978666 1.44937453e-04 1.45968674"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_1"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_1" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_1"/>
+        <origin xyz="${-6.40312645 * scale} ${-6.5173749 * scale} ${18.27037076 * scale}" rpy= "-1.59559695 -3.48829319e-04 2.41934577"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_2"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_2" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_2"/>
+        <origin xyz="${-6.65973941 * scale} ${-5.76875338 * scale} ${12.60740369 * scale}" rpy= "-1.65955903 -0.00541627 2.51722701"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_3"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_3" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_3"/>
+        <origin xyz="${-9.42467165 * scale} ${1.23111485 * scale} ${13.95952052 * scale}" rpy= "-1.54268087 6.45535715e-05 1.40876949"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_4"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_4" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_4"/>
+        <origin xyz="${-8.67928261 * scale} ${0.90325075 * scale} ${26.32664124 * scale}" rpy= "-1.29061943 0.00168711 1.52628765"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_5"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_5" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_5"/>
+        <origin xyz="${5.69565306 * scale} ${-5.39249259 * scale} ${25.3778316 * scale}" rpy= "-1.19846222 0.08480638 -2.49594701"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_6"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_6" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_6"/>
+        <origin xyz="${8.71833126 * scale} ${0.99431703 * scale} ${26.1743809 * scale}" rpy= "-1.29057253 -0.00189879 -1.52072868"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_7"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_7" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_7"/>
+        <origin xyz="${6.64900914 * scale} ${-6.30558868 * scale} ${18.51538873 * scale}" rpy= "-1.60361784 5.95662030e-04 -2.40698274"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_8"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_8" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_8"/>
+        <origin xyz="${0.14411317 * scale} ${-8.049275 * scale} ${14.93110936 * scale}" rpy= "-1.65580869 1.83052213e-03 -3.13786483"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_9"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_9" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_9"/>
+        <origin xyz="${-5.73814208 * scale} ${-5.42709679 * scale} ${25.24200553 * scale}" rpy= "-1.19878812 -0.08458215 2.49544358"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_10"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_10" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_10"/>
+        <origin xyz="${9.42258829 * scale} ${1.15158208 * scale} ${14.54831045 * scale}" rpy= "-1.54285408 -5.71837391e-05 -1.42527418"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_11"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_11" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_11"/>
+        <origin xyz="${3.8067269 * scale} ${-0.23025534 * scale} ${31.88900555 * scale}" rpy= "-0.46989731  0.10702183 -1.78833246"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_12"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_12" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_12"/>
+        <origin xyz="${2.61279781e-02 * scale}  ${-4.84799149 * scale} ${29.2631876 * scale}" rpy= "-0.90945336 -0.00352009 -3.1076869"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_13"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_13" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_13"/>
+        <origin xyz="${-3.92243091 * scale} ${-0.05411787 * scale} ${31.87189268 * scale}" rpy= "0.40261749 0.27093248 -1.7070713"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_14"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_14" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_14"/>
+        <origin xyz="${6.72575877 * scale} ${-5.6872052 * scale} ${12.28742454 * scale}" rpy= "-1.653756 0.00455583 -2.49848336"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_15"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_15" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_15"/>
+        <origin xyz="${9.19364576 * scale} ${1.07233058 * scale} ${20.73499409 * scale}" rpy= "-1.52010616 -1.02741516e-04 -1.49088185"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_16"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_16" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_16"/>
+        <origin xyz="${0.16191958 * scale} ${-8.00774967 * scale} ${22.15694734 * scale}" rpy= "-1.38286616 0.00525309 -3.12116599"/>
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/sr_description/hand/xacro/process_sensor_parameters.xacro b/sr_description/hand/xacro/process_sensor_parameters.xacro
index 39103e3c..44cf13b1 100644
--- a/sr_description/hand/xacro/process_sensor_parameters.xacro
+++ b/sr_description/hand/xacro/process_sensor_parameters.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -59,7 +59,7 @@
 	<!-- Transform sensor parameter into proper type -->
 	<xacro:macro name="transform_to_type" params="name value default_tactile_sensor:=^|none
 				valid_finger_tokens:=^|${'th ff mf rf lf'.split()}
-				valid_sensor_tokens:=^|${'bt_2p bt_sp pst none'.split()}">
+				valid_sensor_tokens:=^|${'bt_2p bt_sp pst mst none'.split()}">
 		<!-- None acts as marker indicating that we didn't find the correct type specifier yet -->
 		<!-- Finally, _tmp_ should become a list of (finger, sensor) pairs -->
 		<xacro:property name="_tmp_" value="${None}" />
diff --git a/sr_description/hand/xacro/thumb/th_distal_mst.urdf.xacro b/sr_description/hand/xacro/thumb/th_distal_mst.urdf.xacro
new file mode 100644
index 00000000..899a91a8
--- /dev/null
+++ b/sr_description/hand/xacro/thumb/th_distal_mst.urdf.xacro
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider">
+
+  <xacro:macro name="t_mst_distal" params="prefix:=^ link_prefix:=^ show_mesh:=true parent scale">
+
+    <xacro:if value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/th_distal/mst/th_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://sr_description/meshes/components/th_distal/mst/th_distal_mst.dae" scale="${scale} ${scale} ${scale}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:if>
+    <xacro:unless value="${show_mesh == 'true'}">
+        <link name="${prefix}${link_prefix}_mst_link"/>
+    </xacro:unless >
+    <joint name="${parent}_to_mst_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}${link_prefix}_mst_link"/>
+        <origin xyz="0.0 0.0 0.0" rpy= "0 0 0"/>
+    </joint>
+
+    <!-- Note that all the following transforms were obtained using the script `get_taxel_tfs_from_meshes,py`
+        Using the material available in the folders `meshes/th_distal` and `meshes/mst_thumb_isolated_magnets -->
+
+    <link name="${prefix}${link_prefix}_taxel_0"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_0" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_0"/>
+        <origin xyz="${-9.72933972 * scale} ${0.06547063 * scale} ${23.22030544 * scale}" rpy= "-1.44982585 -2.08115741e-04 1.59945065"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_1"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_1" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_1"/>
+        <origin xyz="${-6.78859029 * scale} ${-6.82804277 * scale} ${22.16820477 * scale}" rpy= "-1.51571209 -1.67398077e-03 2.40655807"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_2"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_2" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_2"/>
+        <origin xyz="${-6.83900328 * scale} ${-6.98006888 * scale} ${15.67987087 * scale}" rpy= "-1.57147269 -2.79611809e-07 2.50079482"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_3"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_3" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_3"/>
+        <origin xyz="${-10.33255406 * scale} ${-0.19997815 * scale} ${16.95037225 * scale}" rpy= "-1.49660488 -4.46852287e-06 1.57242485"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_4"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_4" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_4"/>
+        <origin xyz="${-8.7115137 * scale} ${0.68303586 * scale} ${29.74382248 * scale}" rpy= "-1.31451327 9.71895171e-04 1.54029857"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_5"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_5" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_5"/>
+        <origin xyz="${5.84283536 * scale} ${-5.75443539 * scale} ${28.41435348 * scale}" rpy= "-1.2130077 0.0791523 -2.49904124"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_6"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_6" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_6"/>
+        <origin xyz="${8.74332376 * scale} ${0.68705607 * scale} ${29.62382328 * scale}" rpy= "-1.32724314 -6.92015708e-04 -1.54681168"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_7"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_7" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_7"/>
+        <origin xyz="${6.78656849 * scale} ${-6.88211391 * scale} ${21.51390819 * scale}" rpy= "-1.51525482 1.66235999e-03 -2.39488770"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_8"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_8" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_8"/>
+        <origin xyz="${0.03874778 * scale} ${-8.94986416 * scale} ${18.31621862 * scale}" rpy= "-1.61454367  0.00471267 -3.13119361"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_9"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_9" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_9"/>
+        <origin xyz="${-6.02973412 * scale} ${-5.57533839 * scale} ${28.51725326 * scale}" rpy= "-1.20741111 -0.08271541 2.50644614"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_10"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_10" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_10"/>
+        <origin xyz="${10.31795085 * scale} ${-0.05661189 * scale} ${17.18739188 * scale}" rpy= "-1.49973096 1.77031295e-06 -1.57149935"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_11"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_11" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_11"/>
+        <origin xyz="${4.27101443 * scale} ${1.33447037 * scale} ${35.39385336 * scale}" rpy= "-0.48614961 -0.01851918 -1.53146519"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_12"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_12" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_12"/>
+        <origin xyz="${0.44288174 * scale}  ${-4.90763679 * scale} ${32.87451239 * scale}" rpy= "-0.91769616 -0.00387778 -3.10187213"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_13"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_13" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_13"/>
+        <origin xyz="${-4.76176569 * scale} ${1.33320954 * scale} ${35.10656598 * scale}" rpy= "0.57255288 -0.05296773 -1.55204906"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_14"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_14" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_14"/>
+        <origin xyz="${6.77731025 * scale} ${-7.02784233 * scale} ${15.88156097 * scale}" rpy= "-1.57796384 3.55764306e-05 -2.51646538"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_15"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_15" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_15"/>
+        <origin xyz="${9.76721312 * scale} ${0.18196067 * scale} ${22.93966039 * scale}" rpy= "-1.45016104 1.12707339e-04 -1.58640662"/>
+    </joint>
+
+    <link name="${prefix}${link_prefix}_taxel_16"/>
+    <joint name="${prefix}${link_prefix}_mst_to_taxel_16" type="fixed">
+        <parent link="${prefix}${link_prefix}_mst_link"/>
+        <child link="${prefix}${link_prefix}_taxel_16"/>
+        <origin xyz="${0.22809436 * scale} ${-8.53802427 * scale} ${24.66986776 * scale}" rpy= "-1.34351864 0.00345266 -3.12631207"/>
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
index 24deeba1..36854ec6 100644
--- a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022, 2023 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -34,6 +34,8 @@
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thdistal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thdistal.transmission.xacro" />
+  <xacro:include filename="$(find sr_description)/hand/xacro/thumb/th_distal_mst.urdf.xacro" />
+
 
   <xacro:macro name="thdistal" params="tip_sensor:=^|pst prefix:=^ parent">
     <xacro:if value="${tip_sensor == 'bt_2p'}">
@@ -134,6 +136,10 @@
               <mesh filename="package://sr_description/meshes/components/th_distal/pst/th_distal_pst.dae"
                     scale="0.001 0.001 0.001" />
             </xacro:if>
+            <xacro:if value="${tip_sensor == 'mst'}">
+              <mesh filename="package://sr_description/meshes/components/th_distal/mst/th_distal_mst.dae"
+                    scale="0.001 0.001 0.001" />
+            </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <mesh filename="package://sr_description/meshes/components/th_distal/bt_sp/th_distal_bt_sp.dae"
                     scale="0.001 0.001 0.001" />
@@ -154,6 +160,10 @@
               <mesh filename="package://sr_description/meshes/components/th_distal/pst/th_distal_pst.dae"
                     scale="0.001 0.001 0.001" />
             </xacro:if>
+            <xacro:if value="${tip_sensor == 'mst'}">
+              <mesh filename="package://sr_description/meshes/components/th_distal/mst/th_distal_mst.dae"
+                    scale="0.001 0.001 0.001" />
+            </xacro:if>
             <xacro:if value="${tip_sensor == 'bt_sp'}">
               <mesh filename="package://sr_description/meshes/components/th_distal/bt_sp/th_distal_bt_sp.dae"
                     scale="0.001 0.001 0.001" />
@@ -188,6 +198,9 @@
         <child link="${prefix}thtip" />
         <origin xyz="0 0 0.0275" rpy="0 0 0" />
       </joint>
+      <xacro:if value="${tip_sensor == 'mst'}">
+        <xacro:t_mst_distal prefix="${prefix}" link_prefix="th" parent="${prefix}thdistal" scale="0.001" show_mesh="false"/>
+      </xacro:if>
       <xacro:thdistal_gazebo />
     </xacro:unless>
     <!-- extensions -->
diff --git a/sr_description/meshes/components/f_distal/mst/f_distal_mst.dae b/sr_description/meshes/components/f_distal/mst/f_distal_mst.dae
new file mode 100644
index 00000000..7efcf3d6
--- /dev/null
+++ b/sr_description/meshes/components/f_distal/mst/f_distal_mst.dae
@@ -0,0 +1,127 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.4.1 commit date:2022-12-19, commit time:17:00, hash:55485cb379f7</authoring_tool>
+    </contributor>
+    <created>2023-02-02T13:19:49</created>
+    <modified>2023-02-02T13:19:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="black_spec-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.04392 0.04392 0.04392 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.21961 0.21961 0.21961 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.45000 0.45000 0.45000 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">32</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black_spec-material" name="black_spec">
+      <instance_effect url="#black_spec-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Finger_Distal_MST__1__002-mesh" name="Finger Distal MST (1).002">
+      <mesh>
+        <source id="Finger_Distal_MST__1__002-mesh-positions">
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4863 2014 4864 2442 4864 2385 4864 2014 4865 2385 4865 2036 4865 70 4866 24 4866 2424 4866 2424 4867 24 4867 2443 4867 2424 4868 2443 4868 2417 4868 2417 4869 2443 4869 2444 4869 2417 4870 2444 4870 2418 4870 2418 4871 2444 4871 2445 4871 2418 4872 2445 4872 2412 4872 2412 4873 2445 4873 2446 4873 2412 4874 2446 4874 2413 4874 2413 4875 2446 4875 2447 4875 2413 4876 2447 4876 2069 4876 2069 4877 2447 4877 2086 4877 2448 4878 2080 4878 2086 4878 2086 4879 2447 4879 2448 4879 2448 4880 2447 4880 2446 4880 2448 4881 2446 4881 2449 4881 2082 4882 2081 4882 2428 4882 2428 4883 2081 4883 2450 4883 2428 4884 2450 4884 2426 4884 2426 4885 2450 4885 2451 4885 2426 4886 2451 4886 2425 4886 2425 4887 2451 4887 2452 4887 2425 4888 2452 4888 14 4888 14 4889 2452 4889 15 4889 2081 4890 2080 4890 2450 4890 2450 4891 2080 4891 2448 4891 2450 4892 2448 4892 2451 4892 2451 4893 2448 4893 2449 4893 2451 4894 2449 4894 2452 4894 2452 4895 2449 4895 2453 4895 2452 4896 2453 4896 15 4896 15 4897 2453 4897 22 4897 2446 4898 2445 4898 2449 4898 2449 4899 2445 4899 2444 4899 2449 4900 2444 4900 2453 4900 2453 4901 2444 4901 2443 4901 2453 4902 2443 4902 22 4902 22 4903 2443 4903 24 4903</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Finger_Distal_MST_" name="Finger Distal MST " type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Finger_Distal_MST__1__002-mesh" name="Finger Distal MST ">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black_spec-material" target="#black_spec-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae b/sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae
new file mode 100644
index 00000000..8ecd0063
--- /dev/null
+++ b/sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae
@@ -0,0 +1,125 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
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3061 6011 2645 6011 3057 6011 3061 6012 3057 6012 3062 6012 3062 6013 3057 6013 3056 6013 3062 6014 3056 6014 1875 6014 1875 6015 3056 6015 1876 6015 3061 6016 3062 6016 3063 6016 2683 6017 1854 6017 1855 6017 2670 6018 3064 6018 2668 6018 2668 6019 3064 6019 3065 6019 2668 6020 3065 6020 2667 6020 2667 6021 3065 6021 3066 6021 2667 6022 3066 6022 2665 6022 2665 6023 3066 6023 3067 6023 2665 6024 3067 6024 2662 6024 2662 6025 3067 6025 3068 6025 2662 6026 3068 6026 2660 6026 2660 6027 3068 6027 3069 6027 2660 6028 3069 6028 2657 6028 2657 6029 3069 6029 3070 6029 2657 6030 3070 6030 2658 6030 2658 6031 3070 6031 2659 6031 2672 6032 3071 6032 2670 6032 2670 6033 3071 6033 3072 6033 2670 6034 3072 6034 3064 6034 2672 6035 2680 6035 3071 6035 3071 6036 2680 6036 2676 6036 3071 6037 2676 6037 3073 6037 3073 6038 2676 6038 2646 6038 2646 6039 3061 6039 3073 6039 3073 6040 3061 6040 3063 6040 3073 6041 3063 6041 3071 6041 3071 6042 3063 6042 3074 6042 3071 6043 3074 6043 3072 6043 3072 6044 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3092 6112 926 6112 3094 6112 3094 6113 926 6113 924 6113 3094 6114 924 6114 3095 6114 3095 6115 924 6115 940 6115 3095 6116 940 6116 3096 6116 940 6117 939 6117 3096 6117 3096 6118 939 6118 937 6118 3096 6119 937 6119 3097 6119 3097 6120 937 6120 935 6120 3097 6121 935 6121 3098 6121 3098 6122 935 6122 933 6122 3098 6123 933 6123 3099 6123 3099 6124 933 6124 931 6124 3099 6125 931 6125 3100 6125 3100 6126 931 6126 929 6126 3100 6127 929 6127 3101 6127 3101 6128 929 6128 945 6128 3101 6129 945 6129 3102 6129 3102 6130 945 6130 944 6130 3102 6131 944 6131 942 6131 942 6132 3085 6132 3102 6132 3102 6133 3085 6133 3087 6133 3102 6134 3087 6134 3101 6134 3101 6135 3087 6135 3103 6135 3101 6136 3103 6136 3100 6136 3100 6137 3103 6137 3104 6137 3100 6138 3104 6138 3099 6138 3099 6139 3104 6139 3105 6139 3099 6140 3105 6140 3098 6140 3098 6141 3105 6141 3106 6141 3098 6142 3106 6142 3097 6142 3097 6143 3106 6143 3107 6143 3097 6144 3107 6144 3096 6144 3096 6145 3107 6145 3108 6145 3096 6146 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1885 6179 1885 6180 3105 6180 3104 6180 1885 6181 3104 6181 1883 6181 1883 6182 3104 6182 3103 6182 1883 6183 3103 6183 1881 6183 1881 6184 3103 6184 3087 6184 1881 6185 3087 6185 1878 6185 1878 6186 3087 6186 3086 6186 1878 6187 3086 6187 1805 6187 3089 6188 1912 6188 1913 6188 1913 6189 3115 6189 3089 6189 3089 6190 3115 6190 3116 6190 3089 6191 3116 6191 3088 6191 3088 6192 3116 6192 915 6192 3088 6193 915 6193 913 6193 1913 6194 1915 6194 3115 6194 3115 6195 1915 6195 3117 6195 3115 6196 3117 6196 3116 6196 3116 6197 3117 6197 3118 6197 3116 6198 3118 6198 915 6198 915 6199 3118 6199 916 6199 3119 6200 1926 6200 1924 6200 3120 6201 2653 6201 2652 6201 3121 6202 3120 6202 3122 6202 3120 6203 2652 6203 3122 6203 3122 6204 2652 6204 2651 6204 3122 6205 2651 6205 3123 6205 3123 6206 3124 6206 3122 6206 3122 6207 3124 6207 3119 6207 3122 6208 3119 6208 3121 6208 3121 6209 3119 6209 1924 6209 1917 6210 1921 6210 3124 6210 3124 6211 1921 6211 1919 6211 3124 6212 1919 6212 3119 6212 3119 6213 1919 6213 1927 6213 3119 6214 1927 6214 1926 6214 1915 6215 1917 6215 3117 6215 3117 6216 1917 6216 3124 6216 3117 6217 3124 6217 3118 6217 3118 6218 3124 6218 3123 6218 3118 6219 3123 6219 916 6219 916 6220 3123 6220 2651 6220 1924 6221 1928 6221 3125 6221 1924 6222 3125 6222 3121 6222 3121 6223 3125 6223 3126 6223 3121 6224 3126 6224 3120 6224 3120 6225 3126 6225 2648 6225 3120 6226 2648 6226 2653 6226 1928 6227 1843 6227 3125 6227 3125 6228 1843 6228 3058 6228 3125 6229 3058 6229 3126 6229 3126 6230 3058 6230 3060 6230 3126 6231 3060 6231 2648 6231 2648 6232 3060 6232 2649 6232</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518904 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="MST_F_XL_FOR_DAE_01" name="MST F XL FOR DAE 01" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#MST_F_XL_FOR_DAE_01_001-mesh" name="MST F XL FOR DAE 01"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/sr_description/meshes/components/forearm/forearm_E3M5.dae b/sr_description/meshes/components/forearm/forearm_E3M5.dae
index 945e051f..febe9374 100644
--- a/sr_description/meshes/components/forearm/forearm_E3M5.dae
+++ b/sr_description/meshes/components/forearm/forearm_E3M5.dae
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2023 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022, 2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -259,4 +259,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/sr_description/meshes/components/th_distal/mst/th_distal_mst.dae b/sr_description/meshes/components/th_distal/mst/th_distal_mst.dae
new file mode 100644
index 00000000..e08019b0
--- /dev/null
+++ b/sr_description/meshes/components/th_distal/mst/th_distal_mst.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+ Software License Agreement (BSD License)
+ Copyright © 2023, 2024 belongs to Shadow Robot Company Ltd.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without modification,
+ are permitted provided that the following conditions are met:
+   1. Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+      may be used to endorse or promote products derived from this software without
+      specific prior written permission.
+ This software is provided by Shadow Robot Company Ltd "as is" and any express
+ or implied warranties, including, but not limited to, the implied warranties of
+ merchantability and fitness for a particular purpose are disclaimed. In no event
+ shall the copyright holder be liable for any direct, indirect, incidental, special,
+ exemplary, or consequential damages (including, but not limited to, procurement of
+ substitute goods or services; loss of use, data, or profits; or business interruption)
+ however caused and on any theory of liability, whether in contract, strict liability,
+ or tort (including negligence or otherwise) arising in any way out of the use of this
+ software, even if advised of the possibility of such damage.
+-->
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+      <author>Blender User</author>
+      <authoring_tool>Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936</authoring_tool>
+    </contributor>
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+          <technique_common>
+            <accessor source="#Thumb_Distal_MST-mesh-normals-array" count="3549" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Thumb_Distal_MST-mesh-vertices">
+          <input semantic="POSITION" source="#Thumb_Distal_MST-mesh-positions"/>
+        </vertices>
+        <triangles count="3578" material="black_spec">
+          <input semantic="VERTEX" source="#Thumb_Distal_MST-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Thumb_Distal_MST-mesh-normals" offset="1"/>
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3400 1724 3400 1725 3400 1756 3401 1725 3401 1757 3401 1757 3402 1725 3402 1726 3402 1757 3403 1726 3403 1758 3403 1758 3404 1726 3404 1727 3404 1758 3405 1727 3405 1759 3405 1759 3406 1727 3406 1728 3406 1759 3407 1728 3407 1760 3407 1760 3408 1728 3408 1729 3408 1760 3409 1729 3409 1761 3409 1761 3410 1729 3410 1730 3410 1761 3411 1730 3411 1762 3411 1762 3412 1730 3412 1731 3412 1762 3413 1731 3413 1763 3413 1763 3414 1731 3414 1732 3414 1763 3415 1732 3415 1764 3415 1764 3416 1732 3416 1733 3416 1764 3417 1733 3417 1765 3417 1765 3418 1733 3418 1734 3418 1765 3419 1734 3419 1766 3419 1766 3420 1734 3420 1735 3420 1766 3421 1735 3421 1767 3421 1767 3422 1735 3422 1736 3422 1767 3423 1736 3423 1768 3423 1768 3424 1736 3424 1737 3424 1768 3425 1737 3425 1769 3425 1769 3426 1737 3426 1738 3426 1769 3427 1738 3427 1770 3427 1770 3428 1738 3428 1739 3428 1770 3429 1739 3429 1771 3429 1771 3430 1739 3430 1740 3430 1771 3431 1740 3431 1772 3431 1772 3432 1740 3432 1741 3432 1772 3433 1741 3433 1773 3433 1572 3434 1681 3434 1682 3434 1682 3435 1681 3435 1742 3435 1682 3436 1742 3436 1692 3436 1692 3437 1742 3437 1743 3437 1692 3438 1743 3438 1691 3438 1691 3439 1743 3439 1744 3439 1691 3440 1744 3440 1690 3440 1690 3441 1744 3441 1745 3441 1690 3442 1745 3442 1689 3442 1689 3443 1745 3443 1746 3443 1689 3444 1746 3444 1688 3444 1688 3445 1746 3445 1747 3445 1688 3446 1747 3446 1687 3446 1687 3447 1747 3447 1748 3447 1687 3448 1748 3448 1686 3448 1686 3449 1748 3449 1749 3449 1686 3450 1749 3450 1685 3450 1685 3451 1749 3451 1750 3451 1685 3452 1750 3452 1684 3452 1684 3453 1750 3453 1751 3453 1684 3454 1751 3454 1683 3454 1683 3455 1751 3455 1752 3455 1683 3456 1752 3456 1693 3456 1693 3457 1752 3457 1753 3457 1693 3458 1753 3458 1694 3458 1694 3459 1753 3459 1754 3459 1694 3460 1754 3460 1695 3460 1695 3461 1754 3461 1755 3461 1695 3462 1755 3462 1696 3462 1696 3463 1755 3463 1756 3463 1696 3464 1756 3464 1697 3464 1697 3465 1756 3465 1757 3465 1697 3466 1757 3466 1698 3466 1698 3467 1757 3467 1758 3467 1698 3468 1758 3468 1699 3468 1699 3469 1758 3469 1759 3469 1699 3470 1759 3470 1700 3470 1700 3471 1759 3471 1760 3471 1700 3472 1760 3472 1701 3472 1701 3473 1760 3473 1761 3473 1701 3474 1761 3474 1702 3474 1702 3475 1761 3475 1762 3475 1702 3476 1762 3476 1703 3476 1703 3477 1762 3477 1763 3477 1703 3478 1763 3478 1704 3478 1704 3479 1763 3479 1764 3479 1704 3480 1764 3480 1705 3480 1705 3481 1764 3481 1765 3481 1705 3482 1765 3482 1706 3482 1706 3483 1765 3483 1766 3483 1706 3484 1766 3484 1707 3484 1707 3485 1766 3485 1767 3485 1707 3486 1767 3486 1708 3486 1708 3487 1767 3487 1768 3487 1708 3488 1768 3488 1709 3488 1709 3489 1768 3489 1769 3489 1709 3490 1769 3490 1774 3490 1774 3491 1769 3491 1770 3491 1774 3492 1770 3492 1775 3492 1775 3493 1770 3493 1771 3493 1775 3494 1771 3494 1776 3494 1776 3495 1771 3495 1772 3495 1776 3496 1772 3496 1777 3496 1777 3497 1772 3497 1773 3497 1777 3498 1773 3498 1778 3498 84 3499 1709 3499 521 3499 521 3500 1709 3500 1774 3500 521 3501 1774 3501 78 3501 78 3502 1774 3502 1775 3502 78 3503 1775 3503 79 3503 79 3504 1775 3504 1776 3504 79 3505 1776 3505 81 3505 81 3506 1776 3506 1777 3506 81 3507 1777 3507 561 3507 561 3508 1777 3508 1778 3508 561 3509 1778 3509 562 3509 1462 3510 1461 3510 1779 3510 1779 3511 1461 3511 1679 3511 1779 3512 1679 3512 1780 3512 1780 3513 1679 3513 1676 3513 1780 3514 1676 3514 1781 3514 1781 3515 1676 3515 1675 3515 1781 3516 1675 3516 828 3516 828 3517 1675 3517 687 3517 1438 3518 1462 3518 1782 3518 1782 3519 1462 3519 1779 3519 1782 3520 1779 3520 1783 3520 1783 3521 1779 3521 1780 3521 1783 3522 1780 3522 1784 3522 1784 3523 1780 3523 1781 3523 1784 3524 1781 3524 827 3524 827 3525 1781 3525 828 3525 1785 3526 1533 3526 562 3526 562 3527 1778 3527 1785 3527 1785 3528 1778 3528 1773 3528 1785 3529 1773 3529 1786 3529 1786 3530 1773 3530 1741 3530 1786 3531 1741 3531 1787 3531 1787 3532 1741 3532 1494 3532 1430 3533 1438 3533 1788 3533 1788 3534 1438 3534 1782 3534 1788 3535 1782 3535 1789 3535 1789 3536 1782 3536 1783 3536 1789 3537 1783 3537 1790 3537 1790 3538 1783 3538 1784 3538 1790 3539 1784 3539 1534 3539 1534 3540 1784 3540 827 3540 1494 3541 1430 3541 1787 3541 1787 3542 1430 3542 1788 3542 1787 3543 1788 3543 1786 3543 1786 3544 1788 3544 1789 3544 1786 3545 1789 3545 1785 3545 1785 3546 1789 3546 1790 3546 1785 3547 1790 3547 1533 3547 1533 3548 1790 3548 1534 3548</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Thumb_Distal_MST" name="Thumb Distal MST" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Thumb_Distal_MST-mesh" name="Thumb Distal MST">
+          <bind_material>
+			<technique_common>
+              <instance_material symbol="black_spec" target="#black_spec">
+                <bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/sr_description/meshes/components/th_distal/pst/th_distal_pst.dae b/sr_description/meshes/components/th_distal/pst/th_distal_pst.dae
index d0313da2..f1ed0b6e 100644
--- a/sr_description/meshes/components/th_distal/pst/th_distal_pst.dae
+++ b/sr_description/meshes/components/th_distal/pst/th_distal_pst.dae
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -34,48 +34,48 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
-	<library_effects>
-		<effect id="black_spec-fx" name="black_spec-fx">
-			<profile_COMMON>
-				<technique sid="blender">
-					<phong>
-						<emission>
-							<color>0.00000 0.00000 0.00000 1</color>
-						</emission>
-						<ambient>
-							<color>0.05997 0.05997 0.05997 1</color>
-						</ambient>
-						<diffuse>
-							<color>0.16355 0.16355 0.16355 1</color>
-						</diffuse>
-						<specular>
-							<color>0.36585 0.36585 0.36585 1</color>
-						</specular>
-						<shininess>
-							<float>12.5</float>
-						</shininess>
-						<reflective>
-							<color>1.00000 1.00000 1.00000 1</color>
-						</reflective>
-						<reflectivity>
-							<float>0.0</float>
-						</reflectivity>
-						<transparent>
-							<color>1 1 1 1</color>
-						</transparent>
-						<transparency>
-							<float>0.0</float>
-						</transparency>
-					</phong>
-				</technique>
-			</profile_COMMON>
-		</effect>
-	</library_effects>
-	<library_materials>
-		<material id="black_spec" name="black_spec">
-			<instance_effect url="#black_spec-fx"/>
-		</material>
-	</library_materials>
+  <library_effects>
+	<effect id="black_spec-fx" name="black_spec-fx">
+	  <profile_COMMON>
+	    <technique sid="blender">
+ 	      <phong>
+			<emission>
+			  <color>0.00000 0.00000 0.00000 1</color>
+            </emission>
+            <ambient>
+			  <color>0.05997 0.05997 0.05997 1</color>
+            </ambient>
+            <diffuse>
+			  <color>0.16355 0.16355 0.16355 1</color>
+			</diffuse>
+			<specular>
+			  <color>0.36585 0.36585 0.36585 1</color>
+            </specular>
+            <shininess>
+			  <float>12.5</float>
+			</shininess>
+            <reflective>
+              <color>1.00000 1.00000 1.00000 1</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>1 1 1 1</color>
+            </transparent>
+            <transparency>
+              <float>0.0</float>
+            </transparency>
+		  </phong>
+		</technique>
+	  </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+	<material id="black_spec" name="black_spec">
+   	  <instance_effect url="#black_spec-fx"/>
+	</material>
+  </library_materials>
   <library_geometries>
     <geometry id="th_distal_pst-mesh" name="th_distal_pst">
       <mesh>
@@ -129,4 +129,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/sr_description/package.xml b/sr_description/package.xml
index f80c1030..ddd3df7b 100644
--- a/sr_description/package.xml
+++ b/sr_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022, 2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met: