diff --git a/LICENSE b/LICENSE
index fb3599df..307e36f3 100644
--- a/LICENSE
+++ b/LICENSE
@@ -2176,7 +2176,7 @@ License for contents in the directory 'robotis_op3/'
 
 
 ================================================================================
-License for contents in the directory 'shadow_hand/'
+License for contents in the directory 'shadow_dexee/'
 ================================================================================
 
 
@@ -2384,7 +2384,7 @@ License for contents in the directory 'shadow_hand/'
 
 
 ================================================================================
-License for contents in the directory 'shadow_new_hand/'
+License for contents in the directory 'shadow_hand/'
 ================================================================================
 
 
diff --git a/README.md b/README.md
index c9beeeb0..1cf057f1 100644
--- a/README.md
+++ b/README.md
@@ -31,7 +31,7 @@ well right out of the gate.
 |<img src='assets/wonik_allegro-right_hand.png' width=100>|<img src='assets/shadow_hand-right_hand.png' width=100>|<img src='assets/google_robot-robot.png' width=100>|<img src='assets/hello_robot_stretch-stretch.png' width=100>|<img src='assets/unitree_a1-a1.png' width=100>|
 |<img src='assets/anybotics_anymal_b-anymal_b.png' width=100>|<img src='assets/anybotics_anymal_c-anymal_c.png' width=100>|<img src='assets/google_barkour_v0-barkour_v0.png' width=100>|<img src='assets/google_barkour_vb-barkour_vb.png' width=100>|<img src='assets/unitree_go1-go1.png' width=100>|
 |<img src='assets/unitree_go2-go2.png' width=100>|<img src='assets/agility_cassie-cassie.png' width=100>|<img src='assets/unitree_g1-g1.png' width=100>|<img src='assets/unitree_h1-h1.png' width=100>|<img src='assets/robotis_op3-op3.png' width=100>|
-|<img src='assets/bitcraze_crazyflie_2-cf2.png' width=100>|<img src='assets/skydio_x2-x2.png' width=100>|<img src='assets/flybody-fruitfly.png' width=100>|<img src='assets/realsense_d435i-d435i.png' width=100>|<img src='assets/shadow-new_shadow_hand.png' width=100>||
+|<img src='assets/bitcraze_crazyflie_2-cf2.png' width=100>|<img src='assets/skydio_x2-x2.png' width=100>|<img src='assets/flybody-fruitfly.png' width=100>|<img src='assets/realsense_d435i-d435i.png' width=100>|<img src='assets/shadow-dexee_hand.png' width=100>||
 
 - [Getting Started](#getting-started)
   - [Prerequisites](#prerequisites)
@@ -208,7 +208,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Allegro Hand V3 | Wonik Robotics | 16 | [BSD-2-Clause](wonik_allegro/LICENSE) |✖️|
 | Robotiq 2F-85 | Robotiq | 8 | [BSD-2-Clause](robotiq_2f85/LICENSE) |✖️|
 | Shadow Hand EM35 | Shadow Robot Company | 24 | [Apache-2.0](shadow_hand/LICENSE) |✖️|
-| New Shadow Hand | Shadow Robot Company | 12 | [Apache-2.0](shadow_hand/LICENSE) |✖️|
+| Shadow DEX-EE Hand | Shadow Robot Company | 12 | [Apache-2.0](shadow_dexee/LICENSE) |✖️|
 
 **Mobile Manipulators.**
 
diff --git a/assets/shadow-new_shadow_hand.png b/assets/shadow-dexee_hand.png
similarity index 100%
rename from assets/shadow-new_shadow_hand.png
rename to assets/shadow-dexee_hand.png
diff --git a/shadow_new_hand/LICENSE b/shadow_dexee/LICENSE
similarity index 100%
rename from shadow_new_hand/LICENSE
rename to shadow_dexee/LICENSE
diff --git a/shadow_new_hand/README.md b/shadow_dexee/README.md
similarity index 50%
rename from shadow_new_hand/README.md
rename to shadow_dexee/README.md
index ac6948e4..54abaa9a 100644
--- a/shadow_new_hand/README.md
+++ b/shadow_dexee/README.md
@@ -1,22 +1,23 @@
-# New Shadow Hand Description (MJCF)
+# Shadow DEX-EE Hand Description (MJCF)
 
 Requires MuJoCo 3.1.0 or later.
 
 ## Overview
 
 This package contains a simplified robot description (MJCF) of the
-[NEW-SHADOW-HAND](https://www.shadowrobot.com/new-shadow-hand/) developed by the
-[Shadow Robot Company](https://www.shadowrobot.com/). The original assets were
-provided directly by [Shadow Robot Company](https://www.shadowrobot.com/) under
-the [Apache 2.0 License](LICENSE).
+[SHADOW-DEX-EE-HAND](https://www.shadowrobot.com/new-shadow-hand/) developed by
+the [Shadow Robot Company](https://www.shadowrobot.com/). The original assets
+were provided directly by [Shadow Robot Company](https://www.shadowrobot.com/)
+under the [Apache 2.0 License](LICENSE).
 
 <p float="left">
-  <img src="new_shadow_hand.png" width="400">
+  <img src="shadow_dexee.png" width="400">
 </p>
 
 ## MJCF
 
-The source of truth for the New Shadow Hand in MuJoCo can be found in `new_shadow_hand.xml`.
+The source of truth for the Shadow DEX-EE Hand in MuJoCo can be found in
+`shadow_dexee.xml`.
 
 This model was evolved alongside hardware development. The initial release
 matches the hardware version at release (without tactile sensors).
diff --git a/shadow_new_hand/assets/Asm-MRH-F-Mid-Visual,00+MagTac,00.stl b/shadow_dexee/assets/Asm-MRH-F-Mid-Visual,00+MagTac,00.stl
similarity index 100%
rename from shadow_new_hand/assets/Asm-MRH-F-Mid-Visual,00+MagTac,00.stl
rename to shadow_dexee/assets/Asm-MRH-F-Mid-Visual,00+MagTac,00.stl
diff --git a/shadow_new_hand/assets/Asm-MRH-F-Prox-Visual,00+Magtac,00.stl b/shadow_dexee/assets/Asm-MRH-F-Prox-Visual,00+Magtac,00.stl
similarity index 100%
rename from shadow_new_hand/assets/Asm-MRH-F-Prox-Visual,00+Magtac,00.stl
rename to shadow_dexee/assets/Asm-MRH-F-Prox-Visual,00+Magtac,00.stl
diff --git a/shadow_new_hand/assets/Asm-MRH-HB1-Visual,00-Plastic.stl b/shadow_dexee/assets/Asm-MRH-HB1-Visual,00-Plastic.stl
similarity index 100%
rename from shadow_new_hand/assets/Asm-MRH-HB1-Visual,00-Plastic.stl
rename to shadow_dexee/assets/Asm-MRH-HB1-Visual,00-Plastic.stl
diff --git a/shadow_new_hand/assets/Asm-MRH-HB1-Visual,00-Puck.stl b/shadow_dexee/assets/Asm-MRH-HB1-Visual,00-Puck.stl
similarity index 100%
rename from shadow_new_hand/assets/Asm-MRH-HB1-Visual,00-Puck.stl
rename to shadow_dexee/assets/Asm-MRH-HB1-Visual,00-Puck.stl
diff --git a/shadow_new_hand/assets/MRH-F-Distal-Sensor-Visual,00.stl b/shadow_dexee/assets/MRH-F-Distal-Sensor-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Distal-Sensor-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Distal-Sensor-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-Distal-Visual,00.stl b/shadow_dexee/assets/MRH-F-Distal-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Distal-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Distal-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-J0Link-Visual,00.stl b/shadow_dexee/assets/MRH-F-J0Link-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-J0Link-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-J0Link-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-Mid-MagTac-Sensor-Visual,00.stl b/shadow_dexee/assets/MRH-F-Mid-MagTac-Sensor-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Mid-MagTac-Sensor-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Mid-MagTac-Sensor-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-Mid-Visual,00.stl b/shadow_dexee/assets/MRH-F-Mid-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Mid-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Mid-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-Prox-MagTac-Sensor-Visual,00.stl b/shadow_dexee/assets/MRH-F-Prox-MagTac-Sensor-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Prox-MagTac-Sensor-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Prox-MagTac-Sensor-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-F-Prox-Visual,00-Lid.stl b/shadow_dexee/assets/MRH-F-Prox-Visual,00-Lid.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Prox-Visual,00-Lid.stl
rename to shadow_dexee/assets/MRH-F-Prox-Visual,00-Lid.stl
diff --git a/shadow_new_hand/assets/MRH-F-Prox-Visual,00-Main.stl b/shadow_dexee/assets/MRH-F-Prox-Visual,00-Main.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Prox-Visual,00-Main.stl
rename to shadow_dexee/assets/MRH-F-Prox-Visual,00-Main.stl
diff --git a/shadow_new_hand/assets/MRH-F-Prox-Visual,00.stl b/shadow_dexee/assets/MRH-F-Prox-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-F-Prox-Visual,00.stl
rename to shadow_dexee/assets/MRH-F-Prox-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-Main-Cover-Visual,00.stl b/shadow_dexee/assets/MRH-FB-Main-Cover-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-Main-Cover-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-Main-Cover-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-MainALU-Visual,00.stl b/shadow_dexee/assets/MRH-FB-MainALU-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-MainALU-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-MainALU-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-PulleyBlock1-Visual,00.stl b/shadow_dexee/assets/MRH-FB-PulleyBlock1-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-PulleyBlock1-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-PulleyBlock1-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-S-Cover-L-Visual,00.stl b/shadow_dexee/assets/MRH-FB-S-Cover-L-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-S-Cover-L-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-S-Cover-L-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-S-Cover-R-Visual,00.stl b/shadow_dexee/assets/MRH-FB-S-Cover-R-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-S-Cover-R-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-S-Cover-R-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-TB-Lid-Logo-Visual,00.stl b/shadow_dexee/assets/MRH-FB-TB-Lid-Logo-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-TB-Lid-Logo-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-TB-Lid-Logo-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-TB-Lid-White-Visual,00.stl b/shadow_dexee/assets/MRH-FB-TB-Lid-White-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-TB-Lid-White-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-TB-Lid-White-Visual,00.stl
diff --git a/shadow_new_hand/assets/MRH-FB-TB-Main-Visual,00.stl b/shadow_dexee/assets/MRH-FB-TB-Main-Visual,00.stl
similarity index 100%
rename from shadow_new_hand/assets/MRH-FB-TB-Main-Visual,00.stl
rename to shadow_dexee/assets/MRH-FB-TB-Main-Visual,00.stl
diff --git a/shadow_new_hand/assets/r3_config1_base.stl b/shadow_dexee/assets/r3_config1_base.stl
similarity index 100%
rename from shadow_new_hand/assets/r3_config1_base.stl
rename to shadow_dexee/assets/r3_config1_base.stl
diff --git a/shadow_new_hand/assets/r3_config1_base_col.stl b/shadow_dexee/assets/r3_config1_base_col.stl
similarity index 100%
rename from shadow_new_hand/assets/r3_config1_base_col.stl
rename to shadow_dexee/assets/r3_config1_base_col.stl
diff --git a/shadow_new_hand/assets/r3_finger_base.stl b/shadow_dexee/assets/r3_finger_base.stl
similarity index 100%
rename from shadow_new_hand/assets/r3_finger_base.stl
rename to shadow_dexee/assets/r3_finger_base.stl
diff --git a/shadow_new_hand/assets/r3_finger_base_col.stl b/shadow_dexee/assets/r3_finger_base_col.stl
similarity index 100%
rename from shadow_new_hand/assets/r3_finger_base_col.stl
rename to shadow_dexee/assets/r3_finger_base_col.stl
diff --git a/shadow_new_hand/scene.xml b/shadow_dexee/scene.xml
similarity index 92%
rename from shadow_new_hand/scene.xml
rename to shadow_dexee/scene.xml
index 4c1148c5..f6184b42 100644
--- a/shadow_new_hand/scene.xml
+++ b/shadow_dexee/scene.xml
@@ -1,5 +1,5 @@
-<mujoco model="new shadow hand scene">
-  <include file="new_shadow_hand.xml"/>
+<mujoco model="shadow dex-ee hand scene">
+  <include file="shadow_dexee.xml"/>
 
   <statistic extent=".5" center="0 0 0.1"/>
 
diff --git a/shadow_new_hand/new_shadow_hand.png b/shadow_dexee/shadow_dexee.png
similarity index 100%
rename from shadow_new_hand/new_shadow_hand.png
rename to shadow_dexee/shadow_dexee.png
diff --git a/shadow_new_hand/new_shadow_hand.xml b/shadow_dexee/shadow_dexee.xml
similarity index 99%
rename from shadow_new_hand/new_shadow_hand.xml
rename to shadow_dexee/shadow_dexee.xml
index a5aac62c..726379a3 100644
--- a/shadow_new_hand/new_shadow_hand.xml
+++ b/shadow_dexee/shadow_dexee.xml
@@ -1,4 +1,4 @@
-<mujoco model="new_shadow_hand">
+<mujoco model="shadow_dexee">
   <compiler autolimits="true" angle="radian" meshdir="assets"/>
 
   <option integrator="implicitfast" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/>