diff --git a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
index 536061ce61a0..763ea4307694 100644
--- a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
+++ b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_left.sdf
@@ -52,7 +52,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/base_link_left.obj</uri>
+            <uri>package://allegro_hand_description/meshes/base_link_left.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -82,7 +82,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -127,7 +127,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -172,7 +172,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -225,7 +225,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -234,7 +234,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -280,7 +280,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_12.0_left.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_12.0_left.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -327,7 +327,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_13.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_13.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -372,7 +372,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_14.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_14.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -426,7 +426,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_15.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_15.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -435,7 +435,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_15.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_15.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -480,7 +480,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -525,7 +525,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -570,7 +570,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -623,7 +623,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -632,7 +632,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -677,7 +677,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -722,7 +722,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -767,7 +767,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -820,7 +820,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -829,7 +829,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
index bbee7423bde3..731f9376a2dc 100644
--- a/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
+++ b/manipulation/models/allegro_hand_description/sdf/allegro_hand_description_right.sdf
@@ -52,7 +52,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/base_link.obj</uri>
+            <uri>package://allegro_hand_description/meshes/base_link.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -82,7 +82,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -127,7 +127,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -172,7 +172,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -225,7 +225,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -234,7 +234,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -279,7 +279,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_12.0_right.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_12.0_right.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -326,7 +326,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_13.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_13.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -371,7 +371,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_14.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_14.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -425,7 +425,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_15.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_15.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -434,7 +434,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_15.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_15.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -479,7 +479,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -524,7 +524,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -569,7 +569,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -622,7 +622,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -631,7 +631,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -676,7 +676,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_0.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_0.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -721,7 +721,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_1.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_1.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -766,7 +766,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_2.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_2.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -819,7 +819,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0.obj</uri>
           </mesh>
         </geometry>
       </visual>
@@ -828,7 +828,7 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>../meshes/link_3.0_tip.obj</uri>
+            <uri>package://allegro_hand_description/meshes/link_3.0_tip.obj</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
index 543418d0440a..3f7326c12459 100644
--- a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
+++ b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_left.urdf
@@ -39,7 +39,7 @@
   <link name="palm_link">
     <visual>
       <geometry>
-        <mesh filename="../meshes/base_link_left.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/base_link_left.obj"/>
       </geometry>
       <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
       <material name="black">
@@ -62,7 +62,7 @@
   <link name="link_8">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -96,7 +96,7 @@
   <link name="link_9">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -130,7 +130,7 @@
   <link name="link_10">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -164,7 +164,7 @@
   <link name="link_11">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -198,7 +198,7 @@
   <link name="link_11_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -224,7 +224,7 @@
   <link name="link_4">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -258,7 +258,7 @@
   <link name="link_5">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -292,7 +292,7 @@
   <link name="link_6">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -326,7 +326,7 @@
   <link name="link_7">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -360,7 +360,7 @@
   <link name="link_7_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -386,7 +386,7 @@
   <link name="link_0">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -420,7 +420,7 @@
   <link name="link_1">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -454,7 +454,7 @@
   <link name="link_2">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -488,7 +488,7 @@
   <link name="link_3">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -522,7 +522,7 @@
   <link name="link_3_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -548,7 +548,7 @@
   <link name="link_12">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_12.0_left.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_12.0_left.obj"/>
       </geometry>
       <material name="black">
         <color rgba=".2 .2 .2 1"/>
@@ -585,7 +585,7 @@
   <link name="link_13">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_13.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_13.0.obj"/>
       </geometry>
       <material name="black">
         <color rgba=".2 .2 .2 1"/>
@@ -621,7 +621,7 @@
   <link name="link_14">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_14.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_14.0.obj"/>
       </geometry>
       <material name="black">
                 </material>
@@ -656,7 +656,7 @@
   <link name="link_15">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_15.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0.obj"/>
       </geometry>
       <material name="black">
                 </material>
@@ -691,7 +691,7 @@
   <link name="link_15_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_15.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
diff --git a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
index 9f65d9ca57c5..7a02813551e7 100644
--- a/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
+++ b/manipulation/models/allegro_hand_description/urdf/allegro_hand_description_right.urdf
@@ -39,7 +39,7 @@
   <link name="palm_link">
     <visual>
       <geometry>
-        <mesh filename="../meshes/base_link.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/base_link.obj"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0 "/>
       <material name="black">
@@ -62,7 +62,7 @@
   <link name="link_0">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -96,7 +96,7 @@
   <link name="link_1">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -130,7 +130,7 @@
   <link name="link_2">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -164,7 +164,7 @@
   <link name="link_3">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -198,7 +198,7 @@
   <link name="link_3_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -224,7 +224,7 @@
   <link name="link_4">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -258,7 +258,7 @@
   <link name="link_5">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -292,7 +292,7 @@
   <link name="link_6">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -326,7 +326,7 @@
   <link name="link_7">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -360,7 +360,7 @@
   <link name="link_7_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -386,7 +386,7 @@
   <link name="link_8">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_0.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_0.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -420,7 +420,7 @@
   <link name="link_9">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_1.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_1.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -454,7 +454,7 @@
   <link name="link_10">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_2.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_2.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -488,7 +488,7 @@
   <link name="link_11">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0.obj"/>
       </geometry>
       <material name="black"/>
     </visual>
@@ -522,7 +522,7 @@
   <link name="link_11_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_3.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_3.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
@@ -548,7 +548,7 @@
   <link name="link_12">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_12.0_right.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_12.0_right.obj"/>
       </geometry>
       <material name="black">
         <color rgba=".2 .2 .2 1"/>
@@ -585,7 +585,7 @@
   <link name="link_13">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_13.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_13.0.obj"/>
       </geometry>
       <material name="black">
         <color rgba=".2 .2 .2 1"/>
@@ -621,7 +621,7 @@
   <link name="link_14">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_14.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_14.0.obj"/>
       </geometry>
       <material name="black">
                 </material>
@@ -656,7 +656,7 @@
   <link name="link_15">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_15.0.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0.obj"/>
       </geometry>
       <material name="black">
                 </material>
@@ -691,7 +691,7 @@
   <link name="link_15_tip">
     <visual>
       <geometry>
-        <mesh filename="../meshes/link_15.0_tip.obj"/>
+        <mesh filename="package://allegro_hand_description/meshes/link_15.0_tip.obj"/>
       </geometry>
       <material name="white">
         <color rgba=".9 .9 .9 1"/>
diff --git a/manipulation/util/show_model.py b/manipulation/util/show_model.py
index a496e1a57636..1bad436ac52c 100644
--- a/manipulation/util/show_model.py
+++ b/manipulation/util/show_model.py
@@ -32,6 +32,13 @@
         --meshcat default \
         ${PWD}/manipulation/models/iiwa_description/sdf/iiwa14_no_collision.sdf
 
+If the model is using package path (e.g. "package://package_name/model_sdf.obj")
+to refer mesh files, you also have to provide the argument `--package_path`:
+    ./bazel-bin/manipulation/util/show_model \
+        --package_path \
+        manipulation/models/iiwa_description \
+        ./manipulation/models/iiwa_description/iiwa7/iiwa7_no_collision.sdf
+
 Note:
     If `--meshcat` is not specified, no meshcat visualization will take
 place.