diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
index 02d24f13..5f20baca 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 © 2022-2023 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:
@@ -56,6 +56,10 @@
           <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_mst/meshes/f_distal/f_distal_mst.dae"
+                  scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </visual>
       <collision>
@@ -72,6 +76,10 @@
           <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_mst/meshes/f_distal/f_distal_mst.dae"
+                  scale="0.001 0.001 0.001" />
+          </xacro:if>
         </geometry>
       </collision>
     </link>
diff --git a/sr_description/hand/xacro/process_sensor_parameters.xacro b/sr_description/hand/xacro/process_sensor_parameters.xacro
index 39103e3c..26cac4fb 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 © 2022-2023 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/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
index 24deeba1..26dae634 100644
--- a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
@@ -134,6 +134,10 @@
               <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="${tip_sensor == 'mst'}">
+              <mesh filename="package://sr_mst/meshes/th_distal/th_distal_mst.dae"
+                    scale="0.001 0.001 0.001" />
+            </xacro:if>
             <xacro:if value="${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 +158,10 @@
               <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="${tip_sensor == 'mst'}">
+              <mesh filename="package://sr_mst/meshes/th_distal/th_distal_mst.dae"
+                    scale="0.001 0.001 0.001" />
+            </xacro:if>
             <xacro:if value="${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" />
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..904afa42 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 © 2022-2023 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>