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Robots_p/jaka_zu7+dexhand021/tactile_sensor/tactile_l_f_link1_4.mtl

@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org

Robots_p/jaka_zu7+dexhand021/tactile_sensor/tactile_l_f_link2_4.mtl

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+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org

Robots_p/jaka_zu7+dexhand021/tactile_sensor/tactile_r_f_link1_4.mtl

@@ -0,0 +1,2 @@
+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org

Robots_p/jaka_zu7+dexhand021/tactile_sensor/tactile_r_f_link2_4.mtl

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+# Blender 5.1.1 MTL File: 'None'
+# www.blender.org

Robots_p/jaka_zu7+dexhand021/usd/.asset_hash

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+68529fe7aeed55ac8020775bed454cc4

Robots_p/jaka_zu7+dexhand021/usd/config.yaml

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+asset_path: /home/ubuntu/zhangdongjie/dex2bench_dataset/Robots_p/jaka_zu7+dexhand021/urdf/Multi_jaka_zu7_dexhand021_with_flange_with_flange.urdf
+usd_dir: /home/ubuntu/zhangdongjie/dex2bench_dataset/Robots_p/jaka_zu7+dexhand021/usd_sdf_linux
+usd_file_name: Multi_jaka_zu7_dexhand021_with_flange_with_flange.usd
+force_usd_conversion: true
+make_instanceable: false
+fix_base: true
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-05-15 at 00:24:06.
+##

Robots_p/kuka+sharpa/iiwa7.urdf

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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_0.obj"/>
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+    </collision>
+  </link>
+  <joint name="A1" type="revolute">
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+    <dynamics damping="10.0" friction="0.1"/>
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+      <geometry>
+        <mesh filename="meshes/visual/link_1.obj"/>
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+    </visual>
+    <collision>
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+      <geometry>
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+    <visual>
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+      <geometry>
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+    </visual>
+    <collision>
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+      <geometry>
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+    <dynamics damping="10.0" friction="0.1"/>
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+      <geometry>
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+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="A6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495"/>
+      <mass value="2.403626"/>
+      <inertia ixx="0.007067" ixy="0.0" ixz="0.0" iyy="0.006804" iyz="0.000311" izz="0.004629"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_6.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A7" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0707 0.091"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-3.05432619099" upper="3.05432619099" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02"/>
+      <mass value="0.259474"/>
+      <inertia ixx="0.000171" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000299"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_7.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_ee" type="fixed">
+    <parent link="link_7"/>
+    <child link="ee_link"/>
+    <origin rpy="0 -1.57079 0" xyz="0 0 0.035"/>
+  </joint>
+  <link name="ee_link"/>
+</robot>

Robots_p/kuka+sharpa/iiwa7_glb.urdf

@@ -0,0 +1,217 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="iiwa7">
+  <link name="link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012857 0.0 0.069964"/>
+      <mass value="4.855658"/>
+      <inertia ixx="0.017839" ixy="0.0" ixz="0.000781" iyy="0.022294" iyz="0.0" izz="0.021334"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1475"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0105 0.1925"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.039793 0.086944"/>
+      <mass value="4.031991"/>
+      <inertia ixx="0.031697" ixy="0.0" ixz="0.0" iyy="0.03008" iyz="0.005889" izz="0.009666"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.2075"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.74532925199"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="-0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.1925"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.039793 0.086944"/>
+      <mass value="4.031989"/>
+      <inertia ixx="0.031695" ixy="0.0" ixz="0.0" iyy="0.030079" iyz="-0.005889" izz="0.009665"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="2.44346095279"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267"/>
+      <mass value="1.529239"/>
+      <inertia ixx="0.008485" ixy="0.0" ixz="0.0" iyy="0.007136" iyz="0.002806" izz="0.003848"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495"/>
+      <mass value="2.403626"/>
+      <inertia ixx="0.007067" ixy="0.0" ixz="0.0" iyy="0.006804" iyz="0.000311" izz="0.004629"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A7" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0707 0.091"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-3.05432619099" upper="3.05432619099" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02"/>
+      <mass value="0.259474"/>
+      <inertia ixx="0.000171" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000299"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_ee" type="fixed">
+    <parent link="link_7"/>
+    <child link="ee_link"/>
+    <origin rpy="0 -1.57079 0" xyz="0 0 0.035"/>
+  </joint>
+  <link name="ee_link"/>
+</robot>

Robots_p/kuka+sharpa/iiwa7_with_sharpa_left.urdf

@@ -0,0 +1,1685 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="iiwa7">
+  <link name="link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012857 0.0 0.069964"/>
+      <mass value="4.855658"/>
+      <inertia ixx="0.017839" ixy="0.0" ixz="0.000781" iyy="0.022294" iyz="0.0" izz="0.021334"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1475"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+ <joint name="A2" type="revolute">
+    <origin rpy="0 1.570796 0" xyz="0.0 -0.0105 0.1925"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-3.66519142918489" upper="0.5235987755" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.039793 0.086944"/>
+      <mass value="4.031991"/>
+      <inertia ixx="0.031697" ixy="0.0" ixz="0.0" iyy="0.03008" iyz="0.005889" izz="0.009666"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.2075"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.74532925199"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="-0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.1925"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.039793 0.086944"/>
+      <mass value="4.031989"/>
+      <inertia ixx="0.031695" ixy="0.0" ixz="0.0" iyy="0.030079" iyz="-0.005889" izz="0.009665"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="2.44346095279"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267"/>
+      <mass value="1.529239"/>
+      <inertia ixx="0.008485" ixy="0.0" ixz="0.0" iyy="0.007136" iyz="0.002806" izz="0.003848"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495"/>
+      <mass value="2.403626"/>
+      <inertia ixx="0.007067" ixy="0.0" ixz="0.0" iyy="0.006804" iyz="0.000311" izz="0.004629"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A7" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0707 0.091"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-3.05432619099" upper="3.05432619099" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02"/>
+      <mass value="0.259474"/>
+      <inertia ixx="0.000171" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000299"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_ee" type="fixed">
+    <parent link="link_7"/>
+    <child link="ee_link"/>
+    <origin rpy="0 -1.57079 0" xyz="0 0 0.035"/>
+  </joint>
+  <link name="ee_link"/>
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  <joint name="iiwa7_sharpa_wrist" type="fixed">
+    <parent link="link_7"/>
+    <child link="left_hand_C_MC"/>
+    <origin rpy="0 0 0" xyz="0 0 0.035"/>
+  </joint>
+  
+  
+  <link name="left_hand_C_MC">
+    <inertial>
+      <origin
+        xyz="-0.00216 -0.00536 0.04011"
+        rpy="0 0 0"
+      />
+      <mass value="0.6506" />
+      <inertia
+        ixx="0.000674245"
+        ixy="-2.498E-06"
+        ixz="-7.348E-06"
+        iyy="0.000793354"
+        iyz="1.05749E-04"
+        izz="0.000294753"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_hand_C_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_hand_C_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_CMC_VL">
+    <inertial> 
+      <origin
+        xyz="-6.5E-4 -2E-4 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.5E-03" />
+      <inertia
+        ixx="2.08E-7"
+        ixy="-1.853E-8"
+        ixz="0"
+        iyy="1.39E-7"
+        iyz="0"
+        izz="2.60E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_CMC_VL.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint name="left_thumb_CMC_FE" type="revolute">
+    <origin
+      xyz="0.01 -0.026 0.0214"
+      rpy="0 0 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_thumb_CMC_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1745" upper="1.9199" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="left_thumb_MC">
+    <inertial>
+      <origin
+        xyz="0.03643 -0.01024 -0.00517"
+        rpy="0 0 0"
+      />
+      <mass value="0.13587" />
+      <inertia
+        ixx="1.9220E-05"
+        ixy="-1.981E-08"
+        ixz="-5.1687E-07"
+        iyy="4.3621E-05"
+        iyz="1.534E-06"
+        izz="4.6191E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_CMC_AA" type="revolute">
+    <origin
+      xyz="0 -0.005 0"
+      rpy="1.5708 -0.7854 0"
+    />
+    <parent link="left_thumb_CMC_VL" />
+    <child link="left_thumb_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="left_thumb_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-1.29E-09 1.1E-10 0.00"
+        rpy="0 0 0"
+      />
+      <mass value="8E-5" />
+      <inertia
+        ixx="6.4E-08"
+        ixy="1.61E-09"
+        ixz="0"
+        iyy="3.8E-08"
+        iyz="0"
+        izz="7.9E-08"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="left_thumb_MCP_FE" type="revolute">
+    <origin
+      xyz="0.065 -0.006 -0.010392"
+      rpy="-0.5236 0 0"
+    />
+    <parent link="left_thumb_MC" />
+    <child link="left_thumb_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.5236" upper="1.3963" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_thumb_PP">
+    <inertial>
+      <origin
+        xyz="0.021256 -0.00095 0.00092"
+        rpy="0 0 0"
+      />
+      <mass value="0.03078" />
+      <inertia
+        ixx="1.255E-06"
+        ixy="-4.00E-07"
+        ixz="4.267E-08"
+        iyy="6.047E-06"
+        iyz="-2.004E-08"
+        izz="5.915E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_thumb_MCP_VL" />
+    <child link="left_thumb_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_thumb_DP">
+    <inertial>
+      <origin
+        xyz="0.00832 -0.00180 -0.00101"
+        rpy="0 0 0"
+      />
+      <mass value="0.00988" />
+      <inertia
+        ixx="3.1462E-07"
+        ixy="-1.026E-07"
+        ixz="7.094E-08"
+        iyy="1.038E-06"
+        iyz="-1.40E-08"
+        izz="1.05884E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_IP" type="revolute">
+    <origin
+      xyz="0.039 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_thumb_PP" />
+    <child link="left_thumb_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_thumb_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_thumb_DP" />
+    <child link="left_thumb_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_thumb_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_thumb_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0276109346321216 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_thumb_elastomer" />
+    <child link="left_thumb_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_index_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="left_index_MCP_FE" type="revolute">
+    <origin
+      xyz="0.001 -0.0303 0.0959"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_index_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_index_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_index_MCP_VL" />
+    <child link="left_index_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_index_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_index_PP" />
+    <child link="left_index_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_index_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_index_MP" />
+    <child link="left_index_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_index_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_index_DP" />
+    <child link="left_index_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_index_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_index_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262508 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_index_elastomer" />
+    <child link="left_index_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_middle_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_MCP_FE" type="revolute">
+    <origin
+      xyz="0 -0.01 0.0989"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_middle_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_middle_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_middle_MCP_VL" />
+    <child link="left_middle_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_middle_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_middle_PP" />
+    <child link="left_middle_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_middle_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_middle_MP" />
+    <child link="left_middle_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_middle_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_middle_DP" />
+    <child link="left_middle_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_middle_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_middle_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_middle_elastomer" />
+    <child link="left_middle_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_ring_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_MCP_FE" type="revolute">
+    <origin
+      xyz="0.0015 0.0103 0.0929"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_ring_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_ring_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_ring_MCP_VL" />
+    <child link="left_ring_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_ring_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_ring_PP" />
+    <child link="left_ring_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_ring_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_ring_MP" />
+    <child link="left_ring_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_ring_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="left_ring_DP" />
+    <child link="left_ring_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_ring_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_ring_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_ring_elastomer" />
+    <child link="left_ring_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_pinky_MC">
+    <inertial>
+      <origin
+        xyz="0.0107985 0.00598801 -0.0335125"
+        rpy="0 0 0"
+      />
+      <mass value="0.12541" />
+      <inertia
+        ixx="3.7226E-05"
+        ixy="-3.22784E-08"
+        ixz="-7.9079E-07"
+        iyy="4.4739E-05"
+        iyz="-1.019E-06"
+        izz="1.7056E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_pinky_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_pinky_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_CMC" type="revolute">
+    <origin
+      xyz="0.01136 0.0263 0.0869"
+      rpy="-3.1416 0 3.1416"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_pinky_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.2618" effort="0.5285" velocity="35.07416159" />
+  </joint>
+  <link name="left_pinky_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_MCP_FE" type="revolute">
+    <origin
+      xyz="0.00836 0.0048 0"
+      rpy="-1.5708 1.5708 0"
+    />
+    <parent link="left_pinky_MC" />
+    <child link="left_pinky_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_pinky_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_pinky_MCP_VL" />
+    <child link="left_pinky_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_pinky_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_pinky_PP" />
+    <child link="left_pinky_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_pinky_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_pinky_MP" />
+    <child link="left_pinky_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_pinky_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_pinky_DP" />
+    <child link="left_pinky_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_pinky_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_pinky_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_pinky_elastomer" />
+    <child link="left_pinky_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>

Robots_p/kuka+sharpa/iiwa7_with_sharpa_right.urdf

@@ -0,0 +1,1679 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="iiwa7">
+  <link name="link_0">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.012857 0.0 0.069964"/>
+      <mass value="4.855658"/>
+      <inertia ixx="0.017839" ixy="0.0" ixz="0.000781" iyy="0.022294" iyz="0.0" izz="0.021334"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_0.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_0.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1475"/>
+    <parent link="link_0"/>
+    <child link="link_1"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_1.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A2" type="revolute">
+    <origin rpy="0 1.570796 0" xyz="0.0 -0.0105 0.1925"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-3.66519142918489" upper="0.5235987755" velocity="1.71042266695"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.039793 0.086944"/>
+      <mass value="4.031991"/>
+      <inertia ixx="0.031697" ixy="0.0" ixz="0.0" iyy="0.03008" iyz="0.005889" izz="0.009666"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_2.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.2075"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="1.74532925199"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.034819 0.123299"/>
+      <mass value="3.394011"/>
+      <inertia ixx="0.021383" ixy="0.0" ixz="0.0" iyy="0.020403" iyz="-0.003797" izz="0.007563"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_3.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_3.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0105 0.1925"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="0.0 -1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.039793 0.086944"/>
+      <mass value="4.031989"/>
+      <inertia ixx="0.031695" ixy="0.0" ixz="0.0" iyy="0.030079" iyz="-0.005889" izz="0.009665"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_4.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_4.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0105 0.2075"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-2.96705972839" upper="2.96705972839" velocity="2.44346095279"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 -0.029824 0.076267"/>
+      <mass value="1.529239"/>
+      <inertia ixx="0.008485" ixy="0.0" ixz="0.0" iyy="0.007136" iyz="0.002806" izz="0.003848"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_5.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_5.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <limit effort="200" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.07102 0.00495"/>
+      <mass value="2.403626"/>
+      <inertia ixx="0.007067" ixy="0.0" ixz="0.0" iyy="0.006804" iyz="0.000311" izz="0.004629"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_6.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_6.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="A7" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0707 0.091"/>
+    <parent link="link_6"/>
+    <child link="link_7"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="200" lower="-3.05432619099" upper="3.05432619099" velocity="3.14159265359"/>
+    <dynamics damping="10.0" friction="0.1"/>
+  </joint>
+  <link name="link_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.0000e-06 -2.0000e-06 1.3782e-02"/>
+      <mass value="0.259474"/>
+      <inertia ixx="0.000171" ixy="0.0" ixz="0.0" iyy="0.000171" iyz="0.0" izz="0.000299"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/visual/link_7.glb"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 -1.231"/>
+      <geometry>
+        <mesh filename="meshes/collision/link_7.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_ee" type="fixed">
+    <parent link="link_7"/>
+    <child link="ee_link"/>
+    <origin rpy="0 -1.57079 0" xyz="0 0 0.035"/>
+  </joint>
+  <link name="ee_link"/>
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  
+  <joint name="iiwa7_sharpa_wrist" type="fixed">
+    <parent link="link_7"/>
+    <child link="right_hand_C_MC"/>
+    <origin rpy="0 0 0" xyz="0 0 0.035"/>
+  </joint>
+  
+  <link name="right_hand_C_MC">
+    <inertial>
+      <origin
+        xyz="-0.00216 0.00536 0.04011"
+        rpy="0 0 0"
+      />
+      <mass value="0.6506" />
+      <inertia
+        ixx="0.000674254"
+        ixy="2.498E-06"
+        ixz="-7.348E-06"
+        iyy="0.000793354"
+        iyz="-1.05749E-04"
+        izz="0.000294753"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_hand_C_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_hand_C_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="right_thumb_CMC_VL">
+    <inertial>
+      <origin
+        xyz="-6.5E-4 2E-4 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.5E-03" />
+      <inertia
+        ixx="2.08E-7"
+        ixy="1.853E-8"
+        ixz="0"
+        iyy="1.39E-7"
+        iyz="0"
+        izz="2.60E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_CMC_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="right_thumb_CMC_FE" type="revolute">
+    <origin
+      xyz="0.01 0.026 0.0214"
+      rpy="3.1416 0 1.5708"
+    />
+    <parent link="right_hand_C_MC" />
+    <child link="right_thumb_CMC_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1745" upper="1.9199" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="right_thumb_MC">
+    <inertial>
+      <origin
+        xyz="0.03643 -0.01024 0.00517"
+        rpy="0 0 0"
+      />
+      <mass value="0.13587" />
+      <inertia
+        ixx="1.9220E-05"
+        ixy="-1.981E-08"
+        ixz="5.1687E-07"
+        iyy="4.3621E-05"
+        iyz="-1.534E-06"
+        izz="4.6191E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.8902 0.8902 0.91373 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_thumb_CMC_AA" type="revolute">
+    <origin
+      xyz="0 -0.005 0"
+      rpy="-1.5708 0.7854 0"
+    />
+    <parent link="right_thumb_CMC_VL" />
+    <child link="right_thumb_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="right_thumb_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-1.29E-09 -1.1E-10 0.00"
+        rpy="0 0 0"
+      />
+      <mass value="8E-5" />
+      <inertia
+        ixx="6.4E-08"
+        ixy="-1.61E-09"
+        ixz="0"
+        iyy="3.8E-08"
+        iyz="0"
+        izz="7.9E-08"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="right_thumb_MCP_FE" type="revolute">
+    <origin
+      xyz="0.065 -0.006 0.010392"
+      rpy="0.5236 0 0"
+    />
+    <parent link="right_thumb_MC" />
+    <child link="right_thumb_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.5236" upper="1.3963" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_thumb_PP">
+    <inertial>
+      <origin
+        xyz="0.021256 -0.00095 -0.00092"
+        rpy="0 0 0"
+      />
+      <mass value="0.03078" />
+      <inertia
+        ixx="1.255E-06"
+        ixy="-4.00E-07"
+        ixz="-4.267E-08"
+        iyy="6.047E-06"
+        iyz="2.004E-08"
+        izz="5.915E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_thumb_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="right_thumb_MCP_VL" />
+    <child link="right_thumb_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_thumb_DP">
+    <inertial>
+      <origin
+        xyz="0.00832 -0.00180 -0.00101"
+        rpy="0 0 0"
+      />
+      <mass value="0.00788" />
+      <inertia
+        ixx="3.1462E-07"
+        ixy="-1.026E-07"
+        ixz="7.094E-08"
+        iyy="1.038E-06"
+        iyz="-1.40E-08"
+        izz="1.05884E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_thumb_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_thumb_IP" type="revolute">
+    <origin
+      xyz="0.039 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="right_thumb_PP" />
+    <child link="right_thumb_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="right_thumb_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_thumb_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="right_thumb_DP" />
+    <child link="right_thumb_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_thumb_fingertip">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="right_thumb_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.027611 0"
+      rpy="1.5708 1.5708 0"
+    />
+    <parent link="right_thumb_elastomer" />
+    <child link="right_thumb_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_index_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="-5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_index_MCP_FE" type="revolute">
+    <origin
+      xyz="0.001 0.0303 0.0959"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="right_hand_C_MC" />
+    <child link="right_index_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_index_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 5.5E-4 6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="3.29E-7"
+        ixz="1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_index_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="right_index_MCP_VL" />
+    <child link="right_index_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_index_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_index_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="right_index_PP" />
+    <child link="right_index_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="right_index_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_index_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="right_index_MP" />
+    <child link="right_index_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="right_index_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_index_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="right_index_DP" />
+    <child link="right_index_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_index_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="right_index_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.026009 0"
+      rpy="1.5708 1.5708 0"
+    />
+    <parent link="right_index_elastomer" />
+    <child link="right_index_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_middle_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="-5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_middle_MCP_FE" type="revolute">
+    <origin
+      xyz="0 0.01 0.0989"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="right_hand_C_MC" />
+    <child link="right_middle_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_middle_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 5.5E-4 6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="3.29E-7"
+        ixz="1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_middle_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="right_middle_MCP_VL" />
+    <child link="right_middle_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_middle_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_middle_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="right_middle_PP" />
+    <child link="right_middle_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="right_middle_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_middle_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="right_middle_MP" />
+    <child link="right_middle_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="right_middle_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_middle_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="right_middle_DP" />
+    <child link="right_middle_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_middle_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="right_middle_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="right_middle_elastomer" />
+    <child link="right_middle_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_ring_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="-5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ring_MCP_FE" type="revolute">
+    <origin
+      xyz="0.0015 -0.0103 0.0929"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="right_hand_C_MC" />
+    <child link="right_ring_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_ring_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 5.5E-4 6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="3.29E-7"
+        ixz="1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ring_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="right_ring_MCP_VL" />
+    <child link="right_ring_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_ring_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ring_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="right_ring_PP" />
+    <child link="right_ring_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="right_ring_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ring_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="right_ring_MP" />
+    <child link="right_ring_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="right_ring_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_ring_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="right_ring_DP" />
+    <child link="right_ring_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_ring_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="right_ring_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262503 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="right_ring_elastomer" />
+    <child link="right_ring_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_pinky_MC">
+    <inertial>
+      <origin
+        xyz="0.0107985 0.00598801 0.0335125"
+        rpy="0 0 0"
+      />
+      <mass value="0.12541" />
+      <inertia
+        ixx="3.7226E-05"
+        ixy="-3.22784E-08"
+        ixz="7.9079E-07"
+        iyy="4.4739E-05"
+        iyz="1.019E-06"
+        izz="1.7056E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_pinky_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_pinky_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_CMC" type="revolute">
+    <origin
+      xyz="0.01136 -0.0263 0.0869"
+      rpy="0 0 3.1416"
+    />
+    <parent link="right_hand_C_MC" />
+    <child link="right_pinky_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.2618" effort="0.5285" velocity="35.07416159" />
+  </joint>
+  <link name="right_pinky_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="-5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_MCP_FE" type="revolute">
+    <origin
+      xyz="0.00836 0.0048 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="right_pinky_MC" />
+    <child link="right_pinky_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_pinky_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 5.5E-4 6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="3.29E-7"
+        ixz="1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="right_pinky_MCP_VL" />
+    <child link="right_pinky_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="right_pinky_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="right_pinky_PP" />
+    <child link="right_pinky_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="right_pinky_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/right_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="right_pinky_MP" />
+    <child link="right_pinky_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="right_pinky_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_pinky_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="right_pinky_DP" />
+    <child link="right_pinky_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="right_pinky_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="right_pinky_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.026009 0"
+      rpy="1.5708 1.5708 0"
+    />
+    <parent link="right_pinky_elastomer" />
+    <child link="right_pinky_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>

Robots_p/kuka+sharpa/left_sharpa_wave.urdf

@@ -0,0 +1,1449 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="left_sharpa_wave">
+  <mujoco>
+    <compiler meshdir="meshes" balanceinertia="true" discardvisual="false" />
+  </mujoco>
+  <link name="left_hand_C_MC">
+    <inertial>
+      <origin
+        xyz="-0.00216 -0.00536 0.04011"
+        rpy="0 0 0"
+      />
+      <mass value="0.6506" />
+      <inertia
+        ixx="0.000674245"
+        ixy="-2.498E-06"
+        ixz="-7.348E-06"
+        iyy="0.000793354"
+        iyz="1.05749E-04"
+        izz="0.000294753"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_hand_C_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_hand_C_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="left_thumb_CMC_VL">
+    <inertial> 
+      <origin
+        xyz="-6.5E-4 -2E-4 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.5E-03" />
+      <inertia
+        ixx="2.08E-7"
+        ixy="-1.853E-8"
+        ixz="0"
+        iyy="1.39E-7"
+        iyz="0"
+        izz="2.60E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_CMC_VL.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+
+  </link>
+  <joint name="left_thumb_CMC_FE" type="revolute">
+    <origin
+      xyz="0.01 -0.026 0.0214"
+      rpy="0 0 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_thumb_CMC_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.1745" upper="1.9199" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="left_thumb_MC">
+    <inertial>
+      <origin
+        xyz="0.03643 -0.01024 -0.00517"
+        rpy="0 0 0"
+      />
+      <mass value="0.13587" />
+      <inertia
+        ixx="1.9220E-05"
+        ixy="-1.981E-08"
+        ixz="-5.1687E-07"
+        iyy="4.3621E-05"
+        iyz="1.534E-06"
+        izz="4.6191E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_CMC_AA" type="revolute">
+    <origin
+      xyz="0 -0.005 0"
+      rpy="1.5708 -0.7854 0"
+    />
+    <parent link="left_thumb_CMC_VL" />
+    <child link="left_thumb_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="3.3" velocity="11.84076833" />
+  </joint>
+  <link name="left_thumb_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-1.29E-09 1.1E-10 0.00"
+        rpy="0 0 0"
+      />
+      <mass value="8E-5" />
+      <inertia
+        ixx="6.4E-08"
+        ixy="1.61E-09"
+        ixz="0"
+        iyy="3.8E-08"
+        iyz="0"
+        izz="7.9E-08"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="left_thumb_MCP_FE" type="revolute">
+    <origin
+      xyz="0.065 -0.006 -0.010392"
+      rpy="-0.5236 0 0"
+    />
+    <parent link="left_thumb_MC" />
+    <child link="left_thumb_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.5236" upper="1.3963" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_thumb_PP">
+    <inertial>
+      <origin
+        xyz="0.021256 -0.00095 0.00092"
+        rpy="0 0 0"
+      />
+      <mass value="0.03078" />
+      <inertia
+        ixx="1.255E-06"
+        ixy="-4.00E-07"
+        ixz="4.267E-08"
+        iyy="6.047E-06"
+        iyz="-2.004E-08"
+        izz="5.915E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_thumb_MCP_VL" />
+    <child link="left_thumb_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_thumb_DP">
+    <inertial>
+      <origin
+        xyz="0.00832 -0.00180 -0.00101"
+        rpy="0 0 0"
+      />
+      <mass value="0.00988" />
+      <inertia
+        ixx="3.1462E-07"
+        ixy="-1.026E-07"
+        ixz="7.094E-08"
+        iyy="1.038E-06"
+        iyz="-1.40E-08"
+        izz="1.05884E-06"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_thumb_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_IP" type="revolute">
+    <origin
+      xyz="0.039 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_thumb_PP" />
+    <child link="left_thumb_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_thumb_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/thumb_elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_thumb_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_thumb_DP" />
+    <child link="left_thumb_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_thumb_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_thumb_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0276109346321216 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_thumb_elastomer" />
+    <child link="left_thumb_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_index_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+
+  </link>
+  <joint name="left_index_MCP_FE" type="revolute">
+    <origin
+      xyz="0.001 -0.0303 0.0959"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_index_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_index_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_index_MCP_VL" />
+    <child link="left_index_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_index_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_index_PP" />
+    <child link="left_index_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_index_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_index_MP" />
+    <child link="left_index_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_index_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_index_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_index_DP" />
+    <child link="left_index_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_index_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_index_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262508 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_index_elastomer" />
+    <child link="left_index_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_middle_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_MCP_FE" type="revolute">
+    <origin
+      xyz="0 -0.01 0.0989"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_middle_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_middle_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_middle_MCP_VL" />
+    <child link="left_middle_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_middle_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_middle_PP" />
+    <child link="left_middle_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_middle_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_middle_MP" />
+    <child link="left_middle_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_middle_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_middle_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_middle_DP" />
+    <child link="left_middle_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_middle_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_middle_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_middle_elastomer" />
+    <child link="left_middle_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_ring_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
+        ixx="1.77E-07"
+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_MCP_FE" type="revolute">
+    <origin
+      xyz="0.0015 0.0103 0.0929"
+      rpy="0 -1.5708 -1.5708"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_ring_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_ring_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
+      <inertia
+        ixx="2.168E-06"
+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_ring_MCP_VL" />
+    <child link="left_ring_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_ring_MP">
+    <inertial>
+      <origin
+        xyz="0.01212 -0.00116 5.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
+      <inertia
+        ixx="5.77E-7"
+        ixy="-1.835E-8"
+        ixz="1.0615E-7"
+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_PIP" type="revolute">
+    <origin
+      xyz="0.047 0 0"
+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_ring_PP" />
+    <child link="left_ring_MP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_ring_DP">
+    <inertial>
+      <origin
+        xyz="0.01276 -0.00263 -1.1E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
+      <inertia
+        ixx="1.343E-7"
+        ixy="-1.48E-9"
+        ixz="5.97E-9"
+        iyy="2.9365E-7"
+        iyz="-8.7E-10"
+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_ring_MP" />
+    <child link="left_ring_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_ring_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
+        ixx="1E-10"
+        ixy="0"
+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
+        izz="1E-10"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_ring_elastomer_fix_joint" type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 -1.5708 0"
+    />
+    <parent link="left_ring_DP" />
+    <child link="left_ring_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_ring_fingertip">
+    <inertial>
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
+      <inertia
+        ixx="2.0E-12"
+        ixy="0"
+        ixz="0"
+        iyy="2.0E-12"
+        iyz="0"
+        izz="2.0E-12"
+      />
+    </inertial>
+  </link>
+  <joint name="left_ring_fingertip_fix_joint" type="fixed">
+    <origin
+      xyz="0 -0.0260092574262507 0"
+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_ring_elastomer" />
+    <child link="left_ring_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_pinky_MC">
+    <inertial>
+      <origin
+        xyz="0.0107985 0.00598801 -0.0335125"
+        rpy="0 0 0"
+      />
+      <mass value="0.12541" />
+      <inertia
+        ixx="3.7226E-05"
+        ixy="-3.22784E-08"
+        ixz="-7.9079E-07"
+        iyy="4.4739E-05"
+        iyz="-1.019E-06"
+        izz="1.7056E-05"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_pinky_MC_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_pinky_MC.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_CMC" type="revolute">
+    <origin
+      xyz="0.01136 0.0263 0.0869"
+      rpy="-3.1416 0 3.1416"
+    />
+    <parent link="left_hand_C_MC" />
+    <child link="left_pinky_MC" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.2618" effort="0.5285" velocity="35.07416159" />
+  </joint>
+  <link name="left_pinky_MCP_VL">
+    <inertial>
+      <origin
+        xyz="-9.2E-03 -1.3E-03 0"
+        rpy="0 0 0"
+      />
+      <mass value="2.21E-03" />
+      <inertia
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+        ixy="5.4E-09"
+        ixz="0"
+        iyy="1.104E-07"
+        iyz="0"
+        izz="2.23E-07"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MCP_VL_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/MCP_VL.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_MCP_FE" type="revolute">
+    <origin
+      xyz="0.00836 0.0048 0"
+      rpy="-1.5708 1.5708 0"
+    />
+    <parent link="left_pinky_MC" />
+    <child link="left_pinky_MCP_VL" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.17453293" upper="1.5708" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_pinky_PP">
+    <inertial>
+      <origin
+        xyz="0.0270 -5.5E-4 -6.8E-4"
+        rpy="0 0 0"
+      />
+      <mass value="0.04741" />
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+        ixy="-3.29E-7"
+        ixz="-1.34E-7"
+        iyy="1.1394E-5"
+        iyz="-1.608E-8"
+        izz="1.1045E-5"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_PP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_MCP_AA" type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="1.5708 0 0"
+    />
+    <parent link="left_pinky_MCP_VL" />
+    <child link="left_pinky_PP" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.3491" upper="0.3491" effort="1.864" velocity="16.07692878" />
+  </joint>
+  <link name="left_pinky_MP">
+    <inertial>
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+        rpy="0 0 0"
+      />
+      <mass value="0.01824" />
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+        iyy="1.923E-6"
+        iyz="-4.01E-9"
+        izz="1.9986E-6"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_MP_visual.STL" />
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
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+        rpy="0 0 0"
+      />
+      <geometry>
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+      </geometry>
+    </collision>
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+  <joint name="left_pinky_PIP" type="revolute">
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+      rpy="-1.5708 0 0"
+    />
+    <parent link="left_pinky_PP" />
+    <child link="left_pinky_MP" />
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+    <limit lower="0" upper="1.7453" effort="0.638" velocity="11.61831603" />
+  </joint>
+  <link name="left_pinky_DP">
+    <inertial>
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+        rpy="0 0 0"
+      />
+      <mass value="0.00455" />
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+        izz="2.981E-7"
+      />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP_visual.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
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+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/left_DP.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_DIP" type="revolute">
+    <origin
+      xyz="0.0315 0 0"
+      rpy="0 0 0"
+    />
+    <parent link="left_pinky_MP" />
+    <child link="left_pinky_DP" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.3963" effort="0.189369" velocity="14.66594768" />
+  </joint>
+  <link name="left_pinky_elastomer">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <mass value="1E-4" />
+      <inertia
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+        ixz="0"
+        iyy="1E-10"
+        iyz="0"
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+    </inertial>
+    <visual>
+      <origin
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+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer_surface.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.2 1 0.2 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0"
+      />
+      <geometry>
+        <mesh filename="meshes/elastomer.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_pinky_elastomer_fix_joint" type="fixed">
+    <origin
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+      rpy="1.5707963267949 -1.5707963267949 0"
+    />
+    <parent link="left_pinky_DP" />
+    <child link="left_pinky_elastomer" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <link name="left_pinky_fingertip">
+    <inertial>
+      <origin
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+        rpy="0 0 0"
+      />
+      <mass value="1.0E-06" />
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+        iyy="2.0E-12"
+        iyz="0"
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+  </link>
+  <joint name="left_pinky_fingertip_fix_joint" type="fixed">
+    <origin
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+      rpy="1.5707963267949 1.5707963267949 0"
+    />
+    <parent link="left_pinky_elastomer" />
+    <child link="left_pinky_fingertip" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>

Robots_p/kuka+sharpa/meshes/DP_elastomer.mtl

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+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.49804 0.49804 0.49804
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
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+Ka 1.0 1.0 1.0
+Kd 0 0 0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
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+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+

Robots_p/kuka+sharpa/meshes/MCP_VL.mtl

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+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.49804 0.49804 0.49804
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0 0 0
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
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+Ka 1.0 1.0 1.0
+Kd 0.85 0.85 0.85
+Ks 0 0 0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1
+illum 1
+

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Robots_p/kuka+sharpa/meshes/elastomer_surface.mtl

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Robots_p/kuka+sharpa/meshes/left_DP.mtl

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Robots_p/kuka+sharpa/meshes/left_MP.mtl

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+

Robots_p/kuka+sharpa/meshes/left_PP.mtl

@@ -0,0 +1,32 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
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