diff --git a/franka_description/meshes/visual/finger.dae b/franka_description/meshes/visual/finger.dae
index e09f9b80e08696a1a531b15ca44179dce77c1f20..8d249b9751ca2a5abf80fe1fcd1a1b951c481ba8 100644
--- a/franka_description/meshes/visual/finger.dae
+++ b/franka_description/meshes/visual/finger.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/hand.dae b/franka_description/meshes/visual/hand.dae
index 990b1f587a19bd8522cc9e3aa832e99245e548a7..454bfcddd36f81a720ba9793b1998bfd8561ff7a 100644
--- a/franka_description/meshes/visual/hand.dae
+++ b/franka_description/meshes/visual/hand.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -150,6 +154,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link0.dae b/franka_description/meshes/visual/link0.dae
index 573bd8e628af1468d05072afcdbf807a5d52f450..9d65e4420b46c4498ca5c7d6390120e01443882b 100644
--- a/franka_description/meshes/visual/link0.dae
+++ b/franka_description/meshes/visual/link0.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -150,6 +154,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -179,6 +184,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -208,6 +214,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -237,6 +244,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -266,6 +274,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -295,6 +304,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -324,6 +334,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -353,6 +364,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link1.dae b/franka_description/meshes/visual/link1.dae
index f55e7e0651c83b0bb73234c7cb509d294c4c8010..47e5b4215f5c9d334b4ba741b571d4aabf2fc404 100644
--- a/franka_description/meshes/visual/link1.dae
+++ b/franka_description/meshes/visual/link1.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link2.dae b/franka_description/meshes/visual/link2.dae
index c017aa31c3fb812e0d01b641858a55b04cdc0e10..6d5788c831cfb7f6e0fa2ebe0df188673f980ce4 100644
--- a/franka_description/meshes/visual/link2.dae
+++ b/franka_description/meshes/visual/link2.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link3.dae b/franka_description/meshes/visual/link3.dae
index 0a21ad5cc361522f0df1971b841e4a1200b48885..895e67be2d17a44d553a1290e9e5fcd89f4f82d1 100644
--- a/franka_description/meshes/visual/link3.dae
+++ b/franka_description/meshes/visual/link3.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link4.dae b/franka_description/meshes/visual/link4.dae
index dce08f85dca332d18ff11177867c245ec2ae3987..1d47af8e04af59e4420e5f59f0deaaa3feb4d72f 100644
--- a/franka_description/meshes/visual/link4.dae
+++ b/franka_description/meshes/visual/link4.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link5.dae b/franka_description/meshes/visual/link5.dae
index c8f4f1118f04e31d73926a7038af60d96d3ac34b..b4370bb6401bc1c4b57b5bd2ab9ee89436757110 100644
--- a/franka_description/meshes/visual/link5.dae
+++ b/franka_description/meshes/visual/link5.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link6.dae b/franka_description/meshes/visual/link6.dae
index 484159bfbcd06a84600490459210254d42479007..74a80bff2151dbc161238b9e86ab0c1f7d59043c 100644
--- a/franka_description/meshes/visual/link6.dae
+++ b/franka_description/meshes/visual/link6.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -150,6 +154,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -179,6 +184,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -208,6 +214,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -237,6 +244,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -266,6 +274,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -295,6 +304,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -324,6 +334,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -353,6 +364,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -382,6 +394,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -411,6 +424,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -440,6 +454,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -469,6 +484,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -498,6 +514,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
diff --git a/franka_description/meshes/visual/link7.dae b/franka_description/meshes/visual/link7.dae
index 4abeee6bdbd31e5bd30d916957876b16db38f530..e43db9037bafa660557ee193fef8c1d217acb01b 100644
--- a/franka_description/meshes/visual/link7.dae
+++ b/franka_description/meshes/visual/link7.dae
@@ -34,6 +34,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -63,6 +64,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -92,6 +94,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -121,6 +124,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -150,6 +154,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -179,6 +184,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -208,6 +214,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>
@@ -237,6 +244,7 @@
             <transparent opaque="A_ONE">
               <color>1 1 1 1</color>
             </transparent>
+            <transparency><float>1</float></transparency>
             <index_of_refraction>
               <float sid="index_of_refraction">1</float>
             </index_of_refraction>